ЖИДКОСТНО-ХИРУРГИЧЕСКИЙ ИНСТРУМЕНТ С ИЗМЕНЯЕМОЙ ФОРМОЙ ФАКЕЛА

... 1. Жидкостно-хирургический инструмент (12), в частности эндоскопический инструмент, содержащийжидкостной проводник (15), который продолжается сквозь держатель (33) и к проксимальному концу (26) которого может подаваться текучая среда под давлением,форсунка (20), соединенная с дистальным концом (19) жидкостного проводника (15), для обеспечения выпуска струи (21) текучей среды, подаваемой жидкостным проводником (15) на форсунку (20) и в направлении (28) выхода,исполнительный механизм (32), оперативно соединенный с форсункой (20), для придания этой форсунке колебательных движений относительно держателя (33).2. Инструмент по п.1, отличающийся тем, что форсунка (20) расположена на дистальном конце (26) держателя (33).3. Инструмент по п.2, отличающийся тем, что исполнительный механизм (32) расположен между форсункой (20) и держателем (33).4. Инструмент по п.2, отличающийся тем, что форсунка (20) упруго поддерживается на держателе (33).5. Инструмент по любому из предшествующих пунктов, отличающийся ...

СИСТЕМЫ ХИРУРГИЧЕСКИХ ИНСТРУМЕНТОВ, СОДЕРЖАЩИЕ КОНЦЕВОЙ ЭФФЕКТОР, ВЫПОЛНЕННЫЙ С ВОЗМОЖНОСТЬЮ ШАРНИРНОГО ПОВОРОТА, И СРЕДСТВА ДЛЯ РЕГУЛИРОВАНИЯ ПУСКОВОГО ХОДА ПУСКОВОГО ЭЛЕМЕНТА

АППАРАТ ДЛЯ ОБРАБОТКИ КОЖИ

Rotary powered surgical instruments with multiple degrees of freedom

A surgical instrument may comprise a drive system that is configured to electrically generate a plurality of discrete rotary control motions. In at least one form, the surgical instrument may include an elongate shaft assembly that is operably couplable to the drive system for receiving a first rotary control motion therefrom for rotating the elongate shaft assembly about a shaft axis. The elongate shaft assembly may be further configured to receive and transmit a second rotary control motion from the drive system to a surgical end effector that is operably coupled to the elongate shaft assembly to cause the surgical end effector to rotate about the shaft axis relative to the elongate shaft assembly. The elongate shaft assembly may be further configured to receive and transmit a third rotary control motion from the drive system to an articulation joint that communicates with the elongate shaft assembly and the surgical end effector to articulate the surgical end effector about an articulation ...

System for informational magnetic feedback in adjustable implants

According to some embodiments, systems and methods are provided for non-invasively detecting the force generated by a non-invasively adjustable implantable medical device and/or a change in dimension of a non-invasively adjustable implantable medical device. Some of the systems include a non-invasively adjustable implant, which includes a driven magnet, and an external adjustment device, which includes one or more driving magnets and one or more Hall effect sensors. The Hall effect sensors of the external adjustment device are configured to detect changes in the magnetic field between the driven magnet of the non-invasively adjustable implant and the driving magnet(s) of the external adjustment device. Changes in the magnetic fields may be used to calculate the force generated by and/or a change in dimension of the non-invasively adjustable implantable medical device.

Hand held electromechanical surgical system including battery compartment diagnostic display

An electromechanical surgical system is provided and includes a hand-held surgical device (100). The surgical device (100) includes a device housing (102) defining a connecting portion (108a) for selectively connecting with an adapter assembly (200), the housing (102) being configured to removably receive a battery (156) therein; at least one drive motor supported in the device housing (102) and being configured to rotate a drive shaft; and a circuit board (150) disposed within the housing (102) for controlling power delivered from a battery (156) to the motor. The system includes a battery (156) configured for disposition in the device housing (102), the battery (156) being capable of powering the at least one drive motor, the battery (156) including at least one display (157a). The device housing (102) is configured such that the at least one display (157a) of the battery (156) is visible therethrough. 8204410_1 ...

Multi-fire stapler with electronic counter, lockout, and visual indicator

MULTI-FIRE STAPLER WITH ELECTRONIC COUNTER, LOCKOUT, AND VISUAL INDICATOR A surgical instrument (10) comprising: a handle (20) having a controller (22) and a motor (23), the motor (23) being coupled to a drive shaft (23a); an adapter (30) releasably coupled to the handle (20), the adapter (30) including an adapter identification device (32) in communication with the controller (22), the adapter identification device (32) configured to store adapter data and to communicate the adapter data to the controller (22); and a loading unit (40) releasably coupled to the adapter (30), the loading unit (40) configured to affect tissue in response to a force transmitted by the adapter (30) from the drive shaft (23a), the loading unit (40) including a loading unit identification device (42) in communication with the controller (22), the loading unit identification device (42) configured to store loading unit data and configured to communicate the loading unit data to the controller (22), wherein the ...

Surgical instrument with tissue density sensing

An apparatus comprises an end effector, a body assembly, a power source, and a control module. The end effector is operable for use in a surgical procedure and can deliver energy to a surgical site. The end effector comprises at least one sensor. The sensor is able to measure at least one physical characteristic associated with the surgical site. The body assembly is in communication with the end effector. The power source is in communication with the body assembly and is operable to deliver power to the end effector. The control module is in communication with the sensor and is operable to change delivery of power to the end effector based on data from the sensor indicating a change in tissue density.

Powered surgical device with speed and current derivative motor shut off

POWERED SURGICAL DEVICE WITH SPEED AND CURRENT DERIVATIVE MOTOR SHUT OFF A surgical instrument (100), comprising: an end effector (400); a power source (101); a motor (152) coupled to the power source (101), the motor (152) configured to actuate the end effector (400); and a controller (147) operatively coupled to the motor (152) and configured to control the motor (152) based on a current draw of the motor (152) and an angular velocity of the motor (152). CCll u.

SURGICAL INSTRUMENT SOFT STOP

A surgical instrument includes a drive member movable by a drive motor between a home position and an end of stroke. A mechanical stop is disposed at or near the end of stroke and is structured to increase resistance to movement of the drive member from a first position to a second position. A control system detects a current spike associated with the increased resistance and interrupts power to the drive motor.

TEMPERATURE ESTIMATION AND TISSUE DETECTION OF AN ULTRASONIC DISSECTOR FROM FREQUENCY RESPONSE MONITORING

An ultrasonic surgical apparatus and method of use including a signal generator outputting a drive signal having a frequency, an oscillating structure, receiving the drive signal and oscillating at the frequency of the drive signal, a bridge circuit, detecting the mechanical motion of the oscillating structure and outputting a signal representative of the mechanical motion, and a microcontroller receiving the signal output by the bridge circuit, the microcontroller determining an instantaneous frequency at which the oscillating structure is oscillating based on the received signal, and comparing the instantaneous frequency to a known frequency value and estimating a temperature of the oscillating structure based on the comparison.

REAL-TIME ESTIMATION OF TISSUE PERFORATION RISK DURING MINIMALLY INVASIVE MEDICAL PROCEDURE

A method for performing a medical procedure, includes coupling a tip of a probe to tissue in an organ of a patient in order to apply the medical procedure using the probe. A force exerted by the tip on the tissue and a displacement of the tip created by the force are measured. A dependence of the force on the displacement is calculated. Based on the calculated dependence, a risk level of perforation of the tissue is estimated.

SURGICAL INSTRUMENT CONTROLS WITH ILLUMINATED FEEDBACK

An electromechanical powered surgical instrument includes a handle assembly and a control assembly. The handle assembly is configured to engage an end effector to manipulate a tool assembly thereof The control assembly is positioned on the candle assembly and includes a plurality of buttons. Each of the plurality of buttons is associated with a function of the end effector. Each of the plurality of buttons is also associated with a light source. The light source is configured to selectively backlight the associated button.

METHOD AND APPARATUS TO ACCOUNT FOR TRANSPONDER TAGGED OBJECTS USED DURING CLINICAL PROCEDURES, EMPLOYING A TROCAR

Liquid injection control device, liquid injection system, and control method

Electrical interface of non-contact surgical adapter

instrumento de fluido cirúrgico

FLEXIBLE CIRCUIT ARRANGEMENT FOR SURGICAL FASTENING INSTRUMENTS

OSCILLATING TISSUE DISSECTOR

Provided is a tissue dissector that includes: a tube having a proximal end and a distal end; a rod disposed within the tube, ribs attached to the rod and extending outside of the tube; a housing disposed at the proximal end of the tube; an actuator disposed in the housing, to rotationally oscillate the rod with respect to the tube; and a first seal disposed around the rod, to prevent fluid from entering the tube.

ATHERECTOMY SYSTEM ADAPTED TO FREE A STUCK ATHERECTOMY BURR

An atherectomy system includes a drive mechanism adapted to rotatably actuate an atherectomy burr and a controller that is adapted to operate the drive mechanism in a first operating mode in which the atherectomy burr is operated at a speed reference and with a predetermined torque limit. The controller is adapted to determine when the atherectomy burr becomes stuck while in the first operating mode and is further adapted to, when the atherectomy burr becomes stuck, operate the drive mechanism in a second operating mode that is different from the first operating mode.

CORTICAL/CANCELLOUS BONE PROBES AND RELATED SURGICAL METHODS

Vertebral probes for spinal surgeries and related surgical methods. In some embodiments, the probe may comprise a bicortical, vertebral probe that may comprise a shaft and a distal tip configured to penetrate a vertebral body to facilitate subsequent placement of a bone anchor providing bicortical purchase within the vertebral body. One or more features for facilitating safe placement of the probe may be provided, such as making the tip spring-loaded or otherwise axially movable relative to the shaft, providing sensors, and/or providing means for determining a position of the tip within a vertebral body.

Interactive surgical system

A surgical instrument is disclosed. The surgical instrument includes an end effector, a user interface, and a control circuit. The end effector is configured to deploy staples into tissue grasped by the end effector and cut the grasped tissue during a firing stroke. The control circuit is configured to cause at least one parameter setting associated with the firing stroke to be displayed on the user interface, cause interpreted information relevant to the firing stroke to be displayed concurrently with the at least one parameter setting on the user interface, wherein the interpreted information is based on external data, and recommend an adjustment of the at least one parameter setting through the user interface, wherein the recommended adjustment is based on the interpreted information.

Systems and methods for controlling a segmented circuit

A powered surgical instrument is disclosed comprising a housing, an elongate shaft extending from the housing, and an end effector extending from the elongate shaft. The end effector is configured to perform at least one end effector function. The powered surgical instrument further comprises a motor and a segmented circuit. The segmented circuit comprises a plurality of circuit segments configured to control the powered surgical instrument. The powered surgical instrument further comprises a power source configured to supply each one of the plurality of circuit segments with a different voltage. The powered surgical instrument further comprises a boost converter configured to provide an increased voltage to one of the plurality of circuit segments when current draw in another of the plurality of circuit segments exceeds a predetermined value.

Cordless Hand-Held Ultrasonic Cautery Cutting Device

An ultrasonic surgical assembly includes an ultrasonic transducer operable to convert a received motional current into a movement of a cutting blade of an ultrasonic waveguide, a measurement circuit connected in a parallel configuration with the ultrasonic transducer, a variable power source operable to supply current through a set of connection points to the parallel configuration and thereby create the motional current in the ultrasonic transducer, and a current controller operable to regulate the motional current by varying an output of the variable power source, thereby maintaining a substantially constant rate of movement of the cutting blade across a variety of cutting loads.

Apparatus and Method for Treating Rhinitis

Devices and methods for treating rhinitis are described where the devices are configured to ablate a single nerve branch or multiple nerve branches of the posterior nasal nerves located within the nasal cavity. A surgical probe may be inserted into the sub-mucosal space of a lateral nasal wall and advanced towards a posterior nasal nerve associated with a middle nasal turbinate or an inferior nasal turbinate into a position proximate to the posterior nasal nerve where neuroablation of the posterior nasal nerve may be performed with the surgical probe. The probe device may utilize a visible light beacon that provides trans-illumination of the sub-mucosal tissue or an expandable structure disposed in the vicinity of the distal end of the probe shaft to enable the surgeon to visualize the sub-mucosal position of the distal end of the surgical probe from inside the nasal cavity using, e.g., an endoscope.

SURGICAL VAPORIZATION ELECTRODE

The electrode head includes two working surfaces in accordance with an actual bipolar electrode. These may be manufactured lithographically, exhibiting even more complicated outlines. Working surfaces are depicted, which are structured as annulus sector-shaped, concentrically arranged areas, when projected in a plane. Moreover, a further area is situated centrally, which is disc-shaped in a planar projection. Plasma is ignited alternately at both poles. If the individual concentric zones are situated close enough with respect to each other a continuous plasma layer will result.

Tissue-Removing Catheter Including Operational Control Mechanism

A tissue-removing catheter includes a sensor configured to detect a parameter of the catheter during the cutting operation of the catheter when a tissue-removing element is in a tissue-removing position. A locking control circuit is in electrical communication with the sensor and a locking device. During an operational control function, the locking control circuit receives a signal from the sensor based at least in part on the parameter of the catheter detected during the cutting operation of the catheter. The locking control circuit determines whether the received signal is indicative of a tissue-removing element engaging a non-tissue obstruction. The locking control circuit configures the locking device in its locked configuration to inhibit movement of the tissue-removing element from its tissue-removing position to its neutral position if the received signal is indicative of the tissue-removing element engaging a non-tissue obstruction.

Robotically-controlled motorized surgical instrument with an end effector

A surgical tool for use with a surgical system is disclosed. The surgical tool comprises a housing containing three drive motors and three non-concentric rotatable output members, a modular shaft assembly comprising three rotatable drive shafts coupled to the three non-concentric rotatable output members, an end effector comprising a first jaw and a second jaw, and a motion conversion assembly. The motion conversion assembly is operably coupled to one of the drive motors and an axial drive assembly. The motion conversion assembly is configured to convert a rotational motion of one of the three rotatable drive shafts to an axial motion. The application of the axial motion to the axial drive assembly approximates the first jaw from an open position to a closed position and performs an actuation stroke within the end effector.

Handle for robotic surgery

Disclosed herein a haptic handling system for tele-robotic surgery. The haptic handling system may include a main body, a fine-tuning roll mechanism, and a grasp control mechanism. The main body may include a first hollow cylindrical section and a second hollow cylindrical section. The fine-tuning roll mechanism may include a knob, a roller coupled to the knob, and a roll encoder coupled to the roller. The grasp control mechanism may include a slider comprising an internal slider and an external slider, a lead screw coupled to the slider, and a grasp encoder coupled to the lead screw. The haptic handling system may further include a force feedback system comprising one or more dynamometers measuring a magnitude and a direction of a couple and a force applied to a surgical tool, a roll actuator coupled to the roller, and a grasp actuator coupled to the lead screw.

FEEDBACK DEPENDENT LITHOTRIPSY ENERGY DELIVERY

A lithotripter is provided that includes a lithotripsy apparatus for treatment of a urinary tract stone by fragmentation. The lithotripsy apparatus includes a lithotripsy wave guide shaft configured to transmit an energy form to at least one urinary tract stone. The lithotripter includes a sensing device configured to provide signal data for determining optimal application of energy during treatment with the lithotripsy apparatus. The lithotripter includes a processor configured to collect the signal data and provide feedback to a user. The processor has a control logic configured to determine at least one of: a) if the lithotripsy wave guide shaft is in contact with a tissue; b) if the lithotripsy wave guide shaft is in contact with a stone; c) type of stone; d) if a user is applying force in excess of a predetermined threshold; and e) physical characteristics of a stone. A method is also provided.

Atherectomy Devices and Methods

Rotational atherectomy devices and systems can remove or reduce stenotic lesions in blood vessels by rotating an abrasive element within the vessel. The abrasive element can be attached to a distal portion of an elongate flexible drive shaft that extends from a handle assembly.

Temperature estimation and tissue detection of an ultrasonic dissector from frequency response monitoring

An ultrasonic surgical apparatus and method, the apparatus including a signal generator outputting a drive signal having a frequency, an oscillating structure, receiving the drive signal and oscillating at the frequency of the drive signal, and a bridge circuit, detecting the mechanical motion of the oscillating structure and outputting a signal representative of the mechanical motion. The ultrasonic surgical apparatus also includes a microcontroller receiving the signal output by the bridge circuit, the microcontroller determining an instantaneous frequency at which the oscillating structure is oscillating based on the received signal, and determining a frequency adjustment necessary to maintain the oscillating structure oscillating at its resonance frequency, the microcontroller further determining the quality (Q value) of the signal received from the bridge circuit and determining material type contacting the oscillating structure.

ХИРУРГИЧЕСКИЙ ИНСТРУМЕНТ С МЯГКИМ УПОРОМ

Изобретение относится к медицине, а именно к хирургическим инструментам. Хирургический инструмент содержит электромеханический стопор, приводной двигатель; приводной элемент, выполненный с возможностью перемещения приводным двигателем по приводному ходу между исходным положением и концом хода. При этом конец хода проходит между первым положением и вторым положением. Механический стопор, расположенный на дистальном конце хода или вблизи от него, и выполненный с возможностью увеличения сопротивления перемещению приводного элемента по приводному ходу от первого положения до второго положения. И система управления, выполненная с возможностью обнаружения скачка тока, связанного с увеличившимся сопротивлением, причем подача питания на приводной двигатель прерывается при обнаружении системой управления скачка тока. При этом механический стопор дополнительно содержит: упор, выполненный с возможностью перемещения из первого положения во второе положение и с возможностью контакта с приводным элементом ...

УСТРОЙСТВО ДЛЯ ВОЗДЕЙСТВИЯ НА КОЖУ С АДАПТИВНОЙ ОБРАТНОЙ СВЯЗЬЮ ПО ДВИЖЕНИЮ

Изобретение относится к медицинской технике, а именно к устройствам для воздействия на кожу. Устройство содержит корпус, форма и размер которого пригодны для удержания в руке человека, исполнительное устройство процесса воздействия, связанное с корпусом, для выполнения воздействия на кожу пользователя, датчик скорости для определения относительной скорости (V) перемещения между корпусом и кожей пользователя в направлении (X) перемещения устройства, параллельном поверхности кожи, устройство сигнализации обратной связи по скорости, содержащее генератор сигнала для формирования сигнала, воспринимаемого человеком, устройство управления, обеспеченное связанной с ним памятью, содержащей информацию, определяющую допустимый диапазон (R) скорости перемещения, причем допустимый диапазон (R) скорости перемещения имеет верхнюю пороговую величину (V1) и нижнюю пороговую величину (V2), причем устройство управления соединено для приема выходного сигнала (S) от датчика скорости, а также соединено для обеспечения ...

СИСТЕМЫ ХИРУРГИЧЕСКИХ ИНСТРУМЕНТОВ, СОДЕРЖАЩИЕ КОНЦЕВОЙ ЭФФЕКТОР, ВЫПОЛНЕННЫЙ С ВОЗМОЖНОСТЬЮ ШАРНИРНОГО ПОВОРОТА, И СРЕДСТВА ДЛЯ РЕГУЛИРОВАНИЯ ПУСКОВОГО ХОДА ПУСКОВОГО ЭЛЕМЕНТА

Группа изобретений относится к медицинской технике, а именно к хирургическим сшивающим и режущим инструментам и предназначенным для применения с ними кассетам со скобами. Система хирургического сшивающего инструмента содержит концевой эффектор, ствол, шарнирное сочленение, гибкий пусковой стержень, боковые участки и датчик. Концевой эффектор содержит упор и кассету со скобами. Кассета со скобами содержит полости для скоб и скобы, хранящиеся в полостях для скоб с возможностью извлечения. Ствол образует продольную ось. Концевой эффектор соединен со стволом в области шарнирного сочленения с возможностью поворота между шарнирно неповернутым положением и шарнирно повернутыми положениями относительно продольной оси. Гибкий пусковой стержень проходит через шарнирное сочленение. Гибкий пусковой стержень содержит проксимальный конец и дистальный конец. Проксимальный конец расположен проксимально относительно шарнирного сочленения. Дистальный конец расположен дистально относительно шарнирного сочленения ...

ХИРУРГИЧЕСКИЙ ПОЗИЦИОНИРУЮЩИЙ ИНСТРУМЕНТ ДЛЯ ПОДДЕРЖИВАНИЯ И ФИКСАЦИИ ОРГАНОВ

Apparatus and method for occluding a vessel by RF embolization

An RF ablation system 10 includes an electrode element 12 of elongate form and a cathode pad 14. A control unit 40 includes a processing unit 42, a power unit 44 and, optionally, a temperature sensor 46 and/or an impedance sensor 48. One embodiment provides for sensing retraction of the anode terminal 12 and effecting RF ablation during and/or after the retraction process in order to create a more effective occlusion barrier. The control unit 40 in another embodiment carries out RF ablation in at least two phases, the first phase at a higher energy level and a second phase, after at least partial retraction of the anode element 12, at a second lower energy level in order to close any remaining lumen within a blood clot formed within the vessel 18 during the first phase.

MINIMALINVASIVES THERAPEUTIC SYSTEM

Surgical instrument with a soft stop

A surgical instrument includes a drive member movable by a drive motor between a home position and an end of stroke. A mechanical stop is disposed at or near the end of stroke and is structured to increase resistance to movement of the drive member from a first position to a second position. A control system detects a current spike associated with the increased resistance and interrupts power to the drive motor.

Methods and systems for ultrasonic vessel sealing

A method (300) includes providing electrical energy to a transducer (150) for sealing a vessel, where a frequency of the electrical energy is in an ultrasound range, controlling the electrical energy to achieve a predetermined velocity of an end effector (194) coupled to the transducer (150), when the end effector (194) is grasping the vessel, sensing parameters of the electrical energy when the end effector (194) achieves the predetermined velocity, calculating power of the electrical energy based on the sensed parameters and estimating a size range of the vessel based on the power, and controlling the electrical energy to achieve a target velocity, which is determined based on the estimated size range of the vessel, to seal the vessel. P0008212AU 22620190 1 ...

Multiple processor motor control for modular surgical instruments

In various forms, the modular motor control system may comprise one or more motor controllers (6314a, 6314b) each having an associated motor (6318a, 6318b). The one or more motor controllers may be in communication with a master controller (6306). The master controller is configured to provide control signals to the motor controllers to control the associated motors. In some forms, the one or more motor controllers and the associated motors may be located within a surgical module. The surgical module may provide a communications interface between the master controller and the one or more motor controllers.

Surgical saw with sensing technology for determining cut through of bone and depth of the saw blade during surgery

Sensing technology methods related thereto for determining cut through of bone and a depth of penetration of a working portion of a surgical instrument (e.g., an oscillating saw blade in a cut). A first sensor outputs a first signal representative of a displacement of the cutting edge of the saw blade in the cut. A second sensor outputs a second signal representative of a force applied to the cutting edge of the saw blade. As such, monitoring the first and/or second sensor may allow for the saw to be stopped upon completion of a cut (e.g., when the saw passes completely through a medium to be cut or upon reaching a predetermined depth for the cut).

MULTI-FIRE STAPLER WITH ELECTRONIC COUNTER, LOCKOUT, AND VISUAL INDICATOR

A surgical system includes a handle having a controller and a motor, an adapter releasably coupled to the handle, and a loading unit releasably coupled to the adapter. The motor is coupled to a drive shaft of the handle. The adapter including an adapter identification device in communication with the controller, configured to store adapter data, and to communicate the adapter data to the controller. The loading unit configured to affect tissue in response to a force transmitted by the adapter from the drive shaft. The loading unit including a loading unit identification device in communication with the controller, configured to store loading unit data, and to communicate the loading unit data to the controller. The controller is configured to adjust output of a motor based on at least one of the adapter data or the loading unit data.

CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS

A surgical instrument (10) for acting on tissue. The surgical instrument comprises at least one processor (3706), at least one motor (530) in communication with the processor and at least one actuation device (840). The processor is programmed to receive from a removable implement portion (3554, 3556, 3558) a first variable (3801) describing the removable implement. The processor is also programmed to apply the first variable to an instrument control algorithm (3802). Further, the processor is programmed to receive an input control signal (3818) from the actuation device and control the at least one motor to operate the surgical instrument in conjunction with the removable implement in accordance with the instrument control algorithm considering the input control signal.

ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT

A surgical instrument (4010) configured to relay a low-power signal from an end effector (4002) to a remote device (4014) is disclosed. The surgical instrument may comprise a handle, a shaft extending distally from the handle, and an end effector attached to the distal end of the shaft. A sensor (4116) may be disposed in the end effector. The sensor may generate a signal (4006) indicative of a condition at the end effector. A transmitter (4124) may be located in the end effector. The transmitter may transmit the signal from the sensor at a first power level. The signal may be received by a relay station (4008) located proximally to the shaft. The relay station is configured to retransmit the signal (4012) at a second power level, wherein the second power level is higher than the first power level.

THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS

A thumbwheel control assembly operably supported on the handle assembly of a motor powered surgical instrument. The thumbwheel control assembly communicates with a motor in the handle such that when an actuator portion of the thumbwheel control assembly is pivoted in a first direction, the motor applies a rotary motion to one of an elongate shaft assembly and an end effector coupled thereto in the first direction and when the actuator portion is pivoted in a second direction, the motor applies the rotary motion to one of the elongate shaft assembly and end effector in the second direction.

ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS

An articulation joint for a surgical instrument. In at least one form, the articulation joint includes a proximal joint portion that is coupled to an elongate shaft assembly of the surgical instrument. A distal joint portion is movably coupled to the proximal joint portion and is configured to interface with a surgical end effector. A first gear train operably interfaces with a proximal firing shaft segment within the elongate shaft assembly and a distal firing shaft segment that is configured to operably interface with the surgical end effector for transmitting a rotary firing motion thereto from the proximal firing shaft segment to the surgical end effector. A second gear train operably interfaces with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion ...

TISSUE-REMOVING CATHETER INCLUDING OPERATIONAL CONTROL MECHANISM

A tissue-removing catheter includes a sensor configured to detect a parameter of the catheter during the cutting operation of the catheter when a tissue-removing element is in a tissue-removing position. A locking control circuit is in electrical communication with the sensor and a locking device. During an operational control function, the locking control circuit receives a signal from the sensor based at least in part on the parameter of the catheter detected during the cutting operation of the catheter. The locking control circuit determines whether the received signal is indicative of a tissue-removing element engaging a non-tissue obstruction. The locking control circuit configures the locking device in its locked configuration to inhibit movement of the tissue-removing element from its tissue-removing position to its neutral position if the received signal is indicative of the tissue-removing element engaging a non-tissue obstruction.

SURGICAL INSTRUMENT WITH TISSUE DENSITY SENSING

An apparatus comprises an end effector, a body assembly, a power source, and a control module. The end effector is operable for use in a surgical procedure and can deliver energy to a surgical site. The end effector comprises at least one sensor. The sensor is able to measure at least one physical characteristic associated with the surgical site. The body assembly is in communication with the end effector. The power source is in communication with the body assembly and is operable to deliver power to the end effector. The control module is in communication with the sensor and is operable to change delivery of power to the end effector based on data from the sensor indicating a change in tissue density.

Sensor straightened end effector during removal through trocar

SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND HAVING A PLURALITY OF RADIO-FREQUENCY ENERGY RETURN PATHS

Surface tracking and motion compensation surgical tool system

surgical cutting and fastening

CATHETER MOVEMENT CONTROL

An endovascular device monitoring system is provided that determines, based on movement of the endovascular device past a selected reference location, at least one of a movement rate of a endovascular device and position of a distal end of a endovascular device in a body of a patient.

A METHOD FOR CUTTING/ABRADING WITH A TOOL, AND RELATED DRIVERS AND SYSTEMS

A method for cutting with a tool comprises rotating the tool in a first direction. Then, at a predetermined moment, quit rotating the tool and allow the tool to coast in the first direction. While the tool coasts, a parameter is determined that represents drag experienced by the tool as the tool coasts. If the determined parameter does not exceed a predetermined limit then the tool is rotated in the first direction. If the determined parameter exceeds the predetermined limit, then the tool is rotated in another direction opposite the first direction. The predetermined moment when the tool begins to coast may be any desired moment, such as when the tool rotates through a specific distance or for a specific period of time.

Dynamic orthoscopic sensing

A dynamic sensing method and apparatus employs microelectromechanical systems (MEMS) and nanoelectromechanical (NEMS) surgical sensors for gathering and reporting surgical parameters pertaining to a drive mechanism of a surgical device, such as speed, rotation, torque and other characteristics of the surgical device. The surgical device employs or affixes the surgical sensor on or about a surgical device for detecting electromechanical characteristics during the surgical procedure. The surgical procedure disposes the medical device in the surgical field responsive to the drive mechanism of a shaver or other endoscopic instrument inserted in a surgical field defined by the surgical procedure.

Surgical instrument with adjustable stop/start control during a firing motion

A surgical instrument. The surgical instrument includes an elongated channel configured to support a staple cartridge, an anvil pivotably connected to the elongated channel, a knife mechanically coupled to the staple cartridge, an electric motor mechanically coupled to the knife and a control circuit electrically connected to the electric motor. The control circuit is configured to ignore an occurrence of a first predefined event based on a position of the knife, automatically stop an advancement of the knife after an occurrence of a second predefined event, and automatically restart advancement of the knife after an occurrence of a third predefined event.

Moveable medical device configured to operate only within a specific range of acceleration

The present invention generally relates to a medical device including a movable instrument (MI) which is activated only when its movement is within an optimal range of acceleration. More particularly the invention relates to a fetal heart rate monitor (FHRM) having a movable Doppler transducer which transceives ultrasound energy only when found within a certain optimal range of acceleration.

Systems and Devices for Cutting Tissue

Systems and devices are described which include a tissue cutting device including a central rotatable shaft having a first end and a second end; a motor operably coupled to the first end of the central rotatable shaft, the motor including circuitry configured to rotate the central rotatable shaft; a moveable component configured to move along at least a portion of the length of the central rotatable shaft; and an elongated flexible cutting component having a first end and a second end, the first end of the elongated flexible cutting component secured to the moveable component and the second end of the elongated flexible cutting component secured to the central rotatable shaft in proximity to the second end of the central rotatable shaft; wherein movement of the moveable component along the at least a portion of the length of the central rotatable shaft changes a shape formed by the elongated flexible cutting component. 1. A tissue cutting device comprising:a central rotatable shaft having a first end and a second end;a motor operably coupled to the first end of the central rotatable shaft, the motor including circuitry configured to rotate the central rotatable shaft;a moveable component configured to move along at least a portion of the length of the central rotatable shaft; andan elongated flexible cutting component having a first end and a second end, the first end of the elongated flexible cutting component secured to the moveable component and the second end of the elongated flexible cutting component secured to the central rotatable shaft in proximity to the second end of the central rotatable shaft;wherein movement of the moveable component along the at least a portion of the length of the central rotatable shaft changes a shape formed by the elongated flexible cutting component.2. The device of claim 1 , further comprising:a computing component including a processor, the computing component operably coupled to at least one of the motor and the moveable ...

VIBRATION DETECTION MODULE, VIBRATION DETECTION METHOD, AND SURGICAL SYSTEM

There is provided a medical apparatus, including medical vibration detection circuitry that is detachable from a medical instrument at an attachment position of the medical instrument in a longitudinal direction and that is configured to detect vibration generated in a distinct portion of the medical instrument, the distinct portion including at least a portion disposed toward a distal end of the medical instrument from the attachment position. 1. A medical apparatus , comprising:medical vibration detection circuitry that is detachable from a medical instrument at an attachment position of the medical instrument in a longitudinal direction and that is configured to detect vibration generated in a distinct portion of the medical instrument, the distinct portion including at least a portion disposed toward a distal end of the medical instrument from the attachment position.2. The medical apparatus according to claim 1 ,wherein the distinct portion includes at least a portion of the medical instrument between a distal end and the attachment position.3. The medical apparatus according to claim 1 ,wherein the vibration detection circuitry is attached to a proximal side of the medical instrument which is a side at which the medical instrument is supported, and is configured to detect vibration generated in the medical instrument in a distal side that approaches or comes into contact with a body tissue of a patient.4. The medical apparatus according to claim 1 , wherein the medical vibration detection circuitry includes:a housing, andone or a plurality of vibration sensors disposed in the housing,wherein the one or plurality of vibration sensors detect at least one of vibration in a frequency band corresponding to an auditory sense and vibration in a frequency band corresponding to a tactile sense.5. The medical apparatus according to claim 4 ,wherein a seal that seals the housing is provided in a gap between an inside and an outside of the housing.6. The medical apparatus ...

Surgical instruments comprising an articulation drive that provides for high articulation angles

A surgical instrument is disclosed comprising a shaft, an end effector, and an articulation joint rotatably connecting the end effector to the shaft. The surgical instrument further comprises an articulation drive system configured to permit high degrees of articulation.

ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM

A surgical instrument may comprise a drive system that is configured to electrically generate a plurality of discrete rotary control motions. In at least one form, the surgical instrument may include an elongate shaft assembly that is operably couplable to the drive system for receiving a first rotary control motion therefrom for rotating the elongate shaft assembly about a shaft axis. The elongate shaft assembly may be further configured to receive and transmit a second rotary control motion from the drive system to a surgical end effector that is operably coupled to the elongate shaft assembly to cause the surgical end effector to rotate about the shaft axis relative to the elongate shaft assembly. The elongate shaft assembly may be further configured to receive and transmit a third rotary control motion from the drive system to an articulation joint that communicates with the elongate shaft assembly and the surgical end effector to articulate the surgical end effector about an articulation ...

Electrically-powered surgical systems with articulation-compensated ultrasonic energy delivery

Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.

Slave Device and Control Method Therefor, and Eye Surgery Device and Control Method Therefor

A slave device according to an example embodiment may comprise: a lower shaft; an upper shaft connected to the lower shaft so as to be able to slide with a single degree of freedom; a lower gripper rotatably supporting the lower shaft; an upper gripper rotatably supporting the upper shaft; a lower delta robot movably supporting the lower gripper; and an upper delta robot movably supporting the upper gripper.

ROBOTIC SURGERY SYSTEM WITH TOOL EDGE SENSORS FOR EDGE COMPUTING

Methods, apparatuses, and systems for edge computing in surgical robotics is provided. The system comprises a surgical robot communicatively coupled to a 3rd party operating room equipment system over a cloud network. The surgical robot includes an operating room hardware configured to perform a surgical procedure on a patient. A memory is communicatively coupled to operating room hardware and user interface, and the memory comprises an equipment database and a threshold database to store parameters related to the operating room hardware. A processor, coupled to the operating room hardware via the network interface, is configured to establish a connection between the surgical robot and the 3rd party operating room equipment system, and monitor events being performed by the operating room and then store the monitored data within the threshold database. The threshold database stores trigger values for each piece of equipment for taking actions, based on data collected by sensors.

Active and semi-active damping

Techniques for active and semi-active damping include a system including a base, a first linkage, a second linkage, and a processor. A proximal end of the first linkage is coupled to the base. The first linkage is configured to support a first instrument. The first linkage includes a first link, a second link, and a first damper coupling the second link to the first link. A proximal end of the second linkage is coupled to the base. The second linkage is configured to support a second instrument. The second linkage incudes a third link, a fourth link, and a second damper coupling the fourth link to the third link. The processor is configured to detect a movement or vibration of the first linkage caused by motion of the second linkage and control the second linkage to mitigate the detected movement or vibration of the first linkage.

Method of compressing tissue within a stapling device and simultaneously displaying of the location of the tissue within the jaws

A surgical system is disclosed including an end effector, a control circuit, a closure member, and a firing member. The end effector includes a first jaw, a second jaw, and an electrode. The first jaw is rotatable relative to the second jaw between an open position and a close position to capture tissue therebetween. The electrode is configured to conduct a sub-therapeutic RF current to the tissue. The control circuit is operably coupled to the electrode. The control circuit is configured to measure impedance of the tissue over time based on the sub-therapeutic RF current. The closure member is configured to move the first jaw towards the second jaw at a closure rate based on the impedance of the tissue. The firing member is configured to move within the end effectors towards a fired position at a firing rate based on the impedance of the tissue.

Joystick switch assemblies for surgical instruments

SURGICAL INSTRUMENT COMPRISING A CONTROL SYSTEM THAT USES INPUT FROM A STRAIN GAGE CIRCUIT

SYSTEM FOR INFORMATIONAL MAGNETIC FEEDBACK IN ADJUSTABLE IMPLANTS

An adjustable implant (300, 330, 358, 386, 400, 420, 444, 462, 1000) for wireless adjustment of a dimension within a body, comprises a first portion (301, 334, 360, 396, 404, 422, 458, 472), configured for coupling to a first location in the body; a second portion (302, 336, 364, 398, 406, 424, 450, 464), configured for coupling to a second location in the body; and a magnetic drive configured to adjust a relative distance between the first portion and the second portion. The magnetic drive includes at least one driven magnet (304, 340, 366, 381, 402, 432, 454, 478, 1010) configured to revolve about an axis in response to a magnetic field imposed by a driver magnet (510, 511; 606, 608; 706, 708; 1106, 1108) outside of the body. The adjustable implant is configured to transmit a signal indicative of the responsiveness of the driven magnet to the driver magnet. A change in the responsiveness is indicative of a change in a force applied between the body and the first and second portions.

ДИНАМИЧЕСКОЕ ОРТОСКОПИЧЕСКОЕ ИЗМЕРЕНИЕ

Изобретения относятся к медицине. В способе управления хирургическим приспособлением в среде хирургического устройства (100) определяют сенсорную зону на хирургическом устройстве. Сенсорная зона приспособлена для принятия интегрированного микромеханического устройства (110) и реагирует на воспринятые электромеханические стимулирующие воздействия в процессе хирургической процедуры. Хирургическое устройство связано с приводным источником для осуществления хирургических манипуляций. Сенсорная зона расположена на вращающейся части хирургического устройства. Размещают интегрированное микромеханическое устройство на вращающейся части. Прикрепляют с помощью крепежного механизма интегрированное микромеханическое устройство (110) к сенсорной зоне для динамического детектирования хирургических параметров в процессе хирургической манипуляции. Вращают вращающуюся часть под воздействием приводного источника так, что сенсорная зона подвергается действию сил, которые могут быть детектированы интегрированным ...

ХИРУРГИЧЕСКИЙ ИНСТРУМЕНТ С МЯГКИМ УПОРОМ

ПОДСВЕЧИВАЕМЫЙ ЭНДОСКОПИЧЕСКИЙ ПЕДИКУЛЯРНЫЙ ЗОНД С ДИНАМИЧЕСКИМ МОНИТОРИНГОМ В РЕАЛЬНОМ ВРЕМЕНИ РАССТОЯНИЯ ДО НЕРВОВ

ДИНАМИЧЕСКОЕ ОРТОСКОПИЧЕСКОЕ ИЗМЕРЕНИЕ

... 1. Способ управления хирургическим устройством экстракции, включающий:настройку интегрированного микромеханического устройства, предназначенного для осуществления сенсорного восприятия параметров вращения;установление беспроводной связи от интегрированного микромеханического устройства к устройству управления с целью отправки воспринятых параметров вращения;прикрепление интегрированного микромеханического устройства к вращающейся втулке, обеспечивающей привод хирургического лезвия, при этом вращающаяся втулка реагирует на работу приводного источника, обеспечивая вращение хирургического лезвия и выполнение разрезов и экстракцию хирургического материала и ограничивает возможность физического соединения вследствие движения;помещение хирургического лезвия в операционное поле с целью осуществления терапевтических манипуляций с вращением хирургического лезвия;осуществление сенсорного восприятия, исходя из вращения втулки, параметров вращения, обусловленных центробежными силами, действующими на ...

Apparatus and method for occluding a vessel by RF embolization

Devices and methods to prevent joint instability following arthroplasty

A kit includes a distractor, a plurality of trial elements, and at least one sensor. The distractor is configured to separate a first bone from a second bone by adjusting the distance between a first member and a second member, and is configured to receive at least one sensor in the first portion. Each of the trial elements corresponds to one of a plurality of surgical implants, is configured to be temporarily coupled to the second bone so as to evaluate suitability of the corresponding one of the plurality of surgical implants for implantation, and is configured to receive at least one sensor. The at least one sensor is configured to be received in the distractor or one of the trial elements, and is configured to record a magnitude of a force, a direction of application of a force, a pressure mapping, or a location of application of a force.

Orthopedic implant device with an integrated or associated active implantable medical device

An orthopedic implant device configured for chronic implant in a patient includes at least one implant hardware structure configured to be associated with a bony structure of the patient, and one or more components of an active implantable medical device. The active implantable medical device may be configured to generate a therapeutic output signal, such as a radio frequency (RF) therapy signal, and to deliver the signal to neural tissue of the patient. Components of the active implantable medical device may be included in a housing configured to be associated with the orthopedic implant device through attachment to a piece of implant hardware, or engagement with a passageway through the orthopedic implant device. Components of the active implantable medical device may also be incorporated and integrated into an implant hardware structure of the orthopedic implant device.

TISSUE-REMOVING CATHETER INCLUDING OPERATIONAL CONTROL MECHANISM

... ²A tissue-removing catheter includes a sensor configured to detect a parameter ²of ²the catheter during the cutting operation of the catheter when a tissue-²removing ²element is in a tissue-removing position. A locking control circuit is in ²electrical ²communication with the sensor and a locking device. During an operational ²control ²function, the locking control circuit receives a signal from the sensor based ²at least in ²part on the parameter of the catheter detected during the cutting operation of ²the ²catheter. The locking control circuit determines whether the received signal ²is indicative ²of a tissue-removing element engaging a non-tissue obstruction. The locking ²control ²circuit configures the locking device in its locked configuration to inhibit ²movement of the ²tissue-removing element from its tissue-removing position to its neutral ²position if the ²received signal is indicative of the tissue-removing element engaging a non-²tissue ²obstruction.² ...

METHOD AND SYSTEM FOR GAP DETECTION IN ABLATION LINES

Described herein is a method and system for gap detection in ablation lines. Microelectrodes are implemented at a distal tip of a catheter to provide localized gap detection along an ablation line. A pacing protocol is used to sequence through each of the microelectrode pairs for a tissue location. If living tissue is present, the pacing signal travels through the living tissue to pulse the heart. An operator will see a capture signal and know that there is a gap in the ablation line. The ablation electrode is then used to ablate the tissue in the gap. Pacing and ablation are therefore performed at the same place without the need to switch between instruments and/or catheters. In an implementation, a force sensor can automate the pacing protocol by determining which microelectrode pair is contacting the tissue. Moreover, signaling between microelectrode pairs can determine contact between the catheter and the tissue.

SYSTEM AND METHOD FOR DELIVERING ENERGY TO TISSUE

Systems and methods for noninvasive skin treatment and deep tissue tightening are disclosed. An exemplary method and treatment system are configured for controlled thermal energy delivery to treat subdermal regions of the skin. First, specific control parameters such as power, skin temperature, and ultrasound frequency are chosen so as to provide localized delivery of ultrasound to a region of interest. Then, ultrasound energy is delivered at a frequency, depth, distribution, timing, and energy density to achieve the desired therapeutic effect.

CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS

A surgical instrument (10) for acting on tissue. The surgical instrument comprises at least one processor (3706), at least one motor (530) in communication with the processor and at least one actuation device (840). The processor is programmed to receive from a removable implement portion (3554, 3556, 3558) a first variable (3801) describing the removable implement. The processor is also programmed to apply the first variable to an instrument control algorithm (3802). Further, the processor is programmed to receive an input control signal (3818) from the actuation device and control the at least one motor to operate the surgical instrument in conjunction with the removable implement in accordance with the instrument control algorithm considering the input control signal.

DETECTION OF TENTING

A method, including measuring a force exerted by a probe on tissue of a patient and measuring a displacement of the probe while measuring the force. The method further includes detecting a tenting of the tissue responsively to a relation between the measured force and the measured displacement.

PREVENTION OF INCORRECT CATHETER ROTATION

A method includes providing an elongated probe having a longitudinal axis and a distal end, and capable of rotation of the distal end about the longitudinal axis in mutually opposite first and second directions. While an operator manipulates the probe within a body of a patient, the rotation that is applied to the distal end is sensed automatically. An alert is issued to the operator upon sensing that the rotation is in the second direction, but not when the sensed rotation is in the first direction.

For nerve adjusting and curing estimation and feedback device, system and method

DYNAMIC ORTHOSCOPIC SENSING

determine the state of electro-mechanical system according to the ultrasonic frequency

TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES

A powered surgical cutting and stapling instrument is disclosed. The instrument includes at least one sensor to measure at least one parameter associated with the instrument, at least one processor, and a memory operatively associated with the processor. The memory includes machine executable instructions that when executed by the processor cause the processor to monitor the at least one sensor over a predetermined time period and determine a rate of change of the measured parameter.

SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER

A surgical instrument is disclosed. The surgical instrument can include an end effector, comprising an anvil and a staple cartridge. The surgical instrument can further include a shaft defining a longitudinal axis. The surgical instrument can also include an articulation joint, wherein the end effector is rotatably connected to the shaft about the articulation joint between an unarticulated position and at least one articulated position. The surgical instrument can include means for adjusting the length of a firing stroke as a function of the degree in which the end effector is articulated relative to the longitudinal axis. The surgical instrument can include a sensor configured to defect shifting of lateral portions of a flexible firing bar that extends through the articulation joint. Additionally or alternatively, the surgical instrument can include a relief feature configured to accommodate shifting of lateral portions of a flexible firing bar.

Surgical positioning instrument for supporting and holding organs

A surgical positioning instrument for supporting and holding organs includes a preferably concave bearing portion and a supporting portion substantially rearward with respect to the bearing portion. Via the bearing portion an organ which is to be positioned can be received and via the supporting portion the surgical positioning instrument can be supported at an environment of the organ. Further, at least the bearing portion partly simulates a surface of the organ to be supported and is designed to be dimensionally stable.

Liquid ejection control device, liquid ejection system, and control method

In a liquid ejection control device, an operation unit includes an energy dial for inputting an energy instructing value related to kinetic energy of a pulsed liquid jet ejected from a liquid ejection device, and a repetitive frequency dial for inputting a repetitive frequency instructing value related to the number of times ejection of the pulsed liquid occurs per unit time. In addition, a controller includes a voltage magnitude setting section that sets voltage magnitude of the drive voltage waveform such that the kinetic energy becomes the energy instructing value, based on a rising index value related to rising of the drive voltage waveform and the repetitive frequency instructing value.

METHODS AND SYSTEMS FOR ULTRASONIC VESSEL SEALING

A method includes providing electrical energy to a transducer for sealing a vessel, where a frequency of the electrical energy is in an ultrasound range, controlling the electrical energy to achieve a predetermined velocity of an end effector coupled to the transducer, when the end effector is grasping the vessel, sensing parameters of the electrical energy when the end effector achieves the predetermined velocity, calculating power of the electrical energy based on the sensed parameters and estimating a size range of the vessel based on the power, and controlling the electrical energy to achieve a target velocity, which is determined based on the estimated size range of the vessel, to seal the vessel.

Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument

A motorized surgical instrument is provided. The surgical instrument includes a displacement member. A motor is coupled to the displacement member. A control circuit is coupled to the motor. A position sensor is coupled to the control circuit. A timer circuit is coupled to the control circuit to measure elapsed time. The control circuit is configured to receive the position of the displacement member from the position sensor, receive elapsed time from the timer circuit, and control velocity of the motor based on the position of the displacement member and the elapsed time. A method of controlling motor velocity of the surgical instrument also is disclosed.

DEVICE AND METHOD FOR ASSISTING LAPAROSCOPIC SURGERY - RULE BASED APPROACH

Surgical controlling systems and methods. A surgical controlling system includes: at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure; at least one location estimating unit to real-time locate the 3D spatial position of at least one surgical tool at any given time t; and at least one movement detection unit in communication with a movement's database and with the location estimating means. The system also includes a controller having a processing unit in communication with a controller's database. The controller controls the spatial position of at least one surgical tool.

SURGICAL INSTRUMENT WITH ADJUSTABLE STOP/START CONTROL DURING A FIRING MOTION

A surgical instrument. The surgical instrument includes an elongated channel configured to support a staple cartridge, an anvil pivotably connected to the elongated channel, a knife mechanically coupled to the staple cartridge, an electric motor mechanically coupled to the knife and a control circuit electrically connected to the electric motor. The control circuit is configured to ignore an occurrence of a first predefined event based on a position of the knife, automatically stop an advancement of the knife after an occurrence of a second predefined event, and automatically restart the closing action of the knife after an occurrence of a third predefined event.

Medical assist device

A medical assistance device is provided for insertion of a needle-like instrument. The device comprises a guide unit, a mechanism including the guide unit, a driving source configured to drive the mechanism, a needle sensor; and an anti-driving unit. The medical assistance device can detect the insertion state of a needle-like device and, when required, the anti-driving unit prevents operation of the driving source.

Automated end effector component reloading system for use with a robotic system

A robotic system for replacing a spent end effector component with a replacement end effector component is disclosed. The robotic system comprises a surgical end effector comprising an attachment portion. The robotic system further comprises an extraction system comprising a rotary extractor. The rotary extractor is configured to release the spent end effector component from the attachment portion of the surgical end effector when the spent end effector component in the surgical end effector is moved into engagement with the rotary extractor as the rotary extractor is rotated.

ACTIVE AND SEMI-ACTIVE DAMPING

Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.

Neural interface insertion and retraction tools

Devices and methods for manipulating devices such as micro-scale devices are provided. The devices can include a tether of various materials surrounded by a stiff body. The tether interfaces with microscale devices to draw them against the stiff body, holding the microscale devices in a locked position for insertion into or extraction out of tissue. The tensional hook and stiff body are configurable in a multitude of positions and geometries to provide increased engagement. Such configurations allow for a range of implantation and extraction surgical procedures for the device within research and clinical settings.

Automated end effector component reloading system for use with a robotic system

A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

Medical treatment apparatus and control method of medical treatment device

A medical treatment device to treat body tissues for conjugation, includes at least a pair of holding members configured to hold the body tissues, an energy output portion provided in at least one of the holding members and connected to an energy source to form a joined portion by supplying energy to the body tissues held by the pair of holding members and joining the body tissues, and a conjugation coating portion to a region from a neighborhood of a joined portion to coat joined surfaces with a substance capable of preventing fluid from invading during or after the body tissues being joined by adding the energy to the body tissues.

Rotational atherectomy device with electric motor

An atherectomy device is disclosed, which is rotationally driven by an electric motor. In some designs, the device includes features unavailable on gas turbine-driven systems, such as the storing in memory of low/medium/high preset rotation speeds for particular models of handle, calculations of the amount of saline left in the IV and associated warnings when it gets sufficiently low, and automatic adjustment of the IV pump rate to a predetermined or calculated level when the rotational speed of the motor is changed. The electric motor has far more rotational inertia than a comparable gas turbine, so the system includes a control mechanism that helps prevent damage from excessive torque being applied to the distal end of the drive shaft. When an obstruction at the distal end is detected, by a drop in the motor rotational speed, the motor is released and is allowed to spin freely as a flywheel. The freely-spinning motor allows the large angular momentum of the system to dissipate rapidly and safely, without excessive torque to the drive shaft.

Expandable devices, rail systems, and motorized devices

Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity.

Stand for holding at least one medical device, having assistively driven casters

The invention relates to a stand ( 10 ) for holding at least one medical device (W 1 to W 3 ), which encompasses a stand foot ( 6 ) having multiple casters ( 16 ) for displacement of the stand ( 10 ). The stand ( 10 ) has a sensor unit ( 22 ) for ascertaining a displacement motion of the stand ( 10 ), a drive unit ( 18 ) for driving at least one of the casters ( 16 ), and a control unit ( 20 ) for controlling the drive unit ( 18 ). The control unit ( 20 ) applies control to the drive unit ( 18 ) in such a way that the latter assistively drives the at least one caster ( 16 ) only when the sensor unit ( 22 ) detects a displacement motion of the stand ( 10 ).

Adaptive imaging and frame rate optimizing based on real-time shape sensing of medical instruments

A system and method for adaptive imaging include a shape sensing system ( 115, 117 ) coupled to an interventional device ( 102 ) to measure spatial characteristics of the interventional device in a subject. An image module ( 130 ) is configured to receive the spatial characteristics and generate one or more control signals in accordance with the spatial characteristics. An imaging device ( 110 ) is configured to image the subject in accordance with the control signals.

Haptic system for balloon tipped catheter interventions

Embodiments of this invention include hand-held handles and systems for balloon-tipped catheter interventions that enable a user to appreciate a combination of palpable sensations as though his or her hand is actual anatomic tissue in situ in real time. The system may include a haptic handle coupled to the proximal end of the catheter where the haptic handle includes a balloon-shaped haptic interface that exhibits geometric characteristics reflecting an anatomy of the interventional balloon and provides tangible sensations representative of tissues surrounding the interventional balloon. Multiple sensors and actuators may be used to create a non-virtual, transparent experience communicated to a user with a three dimensional, volumetric haptic display. In one embodiment, the sensors are positioned about or within an inflatable balloon positioned at the distal aspect of an inserted catheter used to treat cardiac and vascular diseases such as coronary or peripheral vascular occlusion and ablation of cardiac tissue.

Temperature estimation and tissue detection of an ultrasonic dissector from frequency response monitoring

An ultrasonic surgical apparatus and method, the apparatus including a signal generator outputting a drive signal having a frequency, an oscillating structure, receiving the drive signal and oscillating at the frequency of the drive signal, and a bridge circuit, detecting the mechanical motion of the oscillating structure and outputting a signal representative of the mechanical motion. The ultrasonic surgical apparatus also includes a microcontroller receiving the signal output by the bridge circuit, the microcontroller determining an instantaneous frequency at which the oscillating structure is oscillating based on the received signal, and determining a frequency adjustment necessary to maintain the oscillating structure oscillating at its resonance frequency, the microcontroller further determining the quality (Q value) of the signal received from the bridge circuit and determining material type contacting the oscillating structure.

Cartridge arrangements for surgical cutting and fastening instruments with lockout disablement features

The present disclosure provides a surgical cartridge assembly including a proximal end, a distal end, and an elongate channel. The elongate channel includes a base and at least one opening within the base. The surgical cartridge assembly further includes a cartridge body configured to be removably received within the elongate channel and a slot configured to receive a cutting member. In addition, the surgical cartridge assembly includes at least one lockout tab extending from the proximal end of the cartridge body, wherein the at least one lockout tab is configured to cover the at least one opening when the cartridge body is received within the elongate channel, and wherein the at least one lockout tab disables a lockout mechanism to allow the cutting member to advance distally through the slot.

SURGICAL DEVICES HAVING POWER-ASSISTED JAW CLOSURE AND METHODS FOR COMPRESSING AND SENSING TISSUE

Surgical devices are provided having power-assisted or fully powered jaw closure. The devices herein generally include a handle portion, an elongate shaft, and an effector having first and second jaws configured to engage tissue. A motor and one or more compression springs can be operatively coupled, and activation of the motor can compress the spring(s) to reduce the amount of user supplied force to compress tissue between the jaws. In some embodiments, the devices can be configured to regulate an amount of compression applied by the jaws prior to, during, and/or after cutting of the tissue to promote hemostasis. For example, the devices can include sensors, processors, and/or other components that analyze data indicative of tissue type and tissue load. Based on this feedback, the device can automatically adjust the amount of compression or energy applied to the tissue to seal the tissue. 1. A surgical instrument , comprising:a jaw assembly having a first jaw and a second jaw pivotally coupled together, the first and second jaws having opposed tissue contacting surfaces configured to pivot towards each other to compress tissue therebetween when a force applied to at least one of the first and second jaws meets or exceeds a threshold force;a cutting member having a distal portion thereof disposed between the opposed tissue contacting surfaces of the first and second jaws, the distal portion including a cutting edge that extends between and substantially perpendicular to the first and second jaws; anda housing having a motor and a first spring disposed therein, the motor being operatively coupled to the first spring such that the motor is configured to move the first spring from a first position to a second, compressed position to increase a force the jaws apply to the tissue, and the motor further being operatively coupled to the cutting member such that the motor is configured to drive the cutting member distally through the first and second jaws.2. The device of ...

3-d mapping for guidance of device advancement out of a guide catheter

The present disclosure involves a process for guiding the distal end of a guide wire or working catheter as it emerges from the distal end of a guide catheter into a blood vessel. The distal end of the guide wire or working catheter is provided with an X-ray marker, a determination is made that this distal end has emerged from the distal end of the guide catheter and a fluoroscopic image of the distal end of a guide wire or working catheter is taken. This image is correlated with the length of guide wire or working catheter inserted into the guide catheter. After further advancement of the guide wire or working catheter, another fluoroscopic image of the distal end of a guide wire or working catheter is taken and this image is correlated with the length of guide wire or working catheter which has been inserted into the guide catheter.

DYNAMIC ORTHOSCOPIC SENSING

A dynamic sensing method and apparatus employs microelectromechanical systems (MEMS) and nanoelectromechanical (NEMS) surgical sensors for gathering and reporting surgical parameters pertaining to a drive mechanism of a surgical device, such as speed, rotation, torque and other characteristics of the surgical device. The surgical device employs or affixes the surgical sensor on or about a surgical device for detecting electromechanical characteristics during the surgical procedure. The surgical procedure disposes the medical device in the surgical field responsive to the drive mechanism of a shaver or other endoscopic instrument inserted in a surgical field defined by the surgical procedure. 1. A method of controlling a surgical extraction device comprising:affixing an integrated micromechanical device to a hub for driving a surgical blade, the hub responsive to a drive source for rotating 5 the surgical blade for cutting and extraction of surgical matter; the hub restricting physical connections due to movement;disposing the surgical blade in a surgical field for performing therapeutic manipulations from rotation of the surgical blade;10 sensing, based on the rotation of the hub, the rotational parameters caused by centrifugal forces exerted on the integrated micromechanical device.2. The method of claim 1 , further comprising:establishing a wireless connection from the integrated micromechanical device to a controller for sending sensed rotational parameters sending the sensed rotational parameters to a controller for deriving surgical parameters, the controller coupled to a pump and configured to control the pump in response to the derived surgical parameters.3. The method of further comprising varying a pressure exerted by a pump in response to the derived surgical parameters.4. In a surgical device environment claim 1 , a method of controlling a surgical appliance comprising:identifying a sensory area on a surgical device, the sensory area adapted to receive an ...

POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE

A surgical stapling system including a shaft assembly transmits actuation motions from an actuator and an end effector compresses and staples tissue. The end effector comprises an channel; an anvil having a staple forming surface is moveable relative to the channel between open and closed positions; the anvil having a magnet at the distal end; and a staple cartridge removably positionable within the channel. The staple cartridge comprises a body supported for a confronting relationship with the anvil in its closed position; a plurality of staple drivers located within the cartridge body support a staple; a Hall effect sensor located at the distal end of the body; and a microprocessor in communication with the Hall effect sensor. The Hall effect sensor and microprocessor receive power when the staple cartridge is positioned within the channel, and the system is operable to identify the staple cartridge. 1. A surgical stapling system comprising:an elongated shaft assembly configured to transmit actuation motions from an actuator; andan end effector for compressing and stapling tissue, the end effector operably coupled to the elongated shaft, the end effector comprising:an elongated channel;an anvil having a staple forming surface thereon, the anvil moveable to relative to the elongated channel between an open position and a closed position; the anvil having a magnet located at the distal end; anda staple cartridge removably positioned within the elongated channel, the staple cartridge comprising:a cartridge body supported for a confronting relationship with the anvil when the anvil is in the closed position;a plurality of staple drivers located within the cartridge body, wherein each one of the plurality of staple drivers supports a staple;a Hall effect sensor located at the distal end of the cartridge body; anda microprocessor in communication with the Hall effect sensor;wherein the Hall effect sensor and microprocessor receive power when the staple cartridge is ...

Apparatus with saw-toothed blade for cutting tissue

A tissue splitting device for splitting a harvested soft tissue to provide a layer of tissue having a uniform thickness and methods for tissue transplantation using uniform layers of tissue.

Dynamized Interspinal Implant

An interspinous process implant for insertion between adjacent spinous processes, the implant having a flexible body having i) an upper posterior portion having an upper surface adapted to bear upon an upper spinous process, ii) a lower posterior portion having a lower surface adapted to bear upon a lower spinous process, and iii) an arcuate, flexible anterior wall connecting the upper and lower portions, wherein the anterior wall has a narrowed portion.

Acoustic therapy device

The present disclosure provides a system for treatment of thrombosis. The system includes a garment configured to secure to a portion of a body of the user and a plurality of energy units, coupled to the garment, that provide energy inside the body of the user to prevent or break-up at least one of thrombin or a clot formation and increase vascular flow.

Device and method for assisting laparoscopic surgery - rule based approach

The present invention provides a surgical controlling system, comprising: a. at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure; b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t; c. at least one movement detection means communicable with a movement's database and with said location estimating means; and, d. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool; said controller's database is in communication with said movement detection means.

System and method for laparoscopic morcellator

Embodiments of the invention provide a laparoscopic morcellating device and method for removing tissue from a body cavity. The morcellating device includes a containment mechanism having an aperture, a cutting mechanism designed to fit into an interior space of the containment mechanism and a retractor mechanism that is coupled to the cutting mechanism. The containment mechanism and cutting mechanism combination surrounds the tissue and the aperture of the containment mechanism is closed around the tissue. The morcellating device further includes a motor for actuating the retractor such that the cutting mechanism constricts and morcellates the tissue. The laparoscopic morcellating device further allows for torque balancing of the retractor mechanism, gas flow regulation of the body cavity, and safety feedback mechanisms that can alert the surgeon.

Devices, Systems and Methods for Evaluation and Feedback of Neuromodulation Treatment

The present disclosure relates to devices, systems and methods for evaluating the success of a treatment applied to tissue in a patient, such as a radio frequency ablative treatment used to neuromodulate nerves associated with the renal artery. A system monitors parameters or values generated during the course of a treatment. Feedback provided to an operator is based on the monitored values and relates to an assessment of the likelihood that a completed treatment was technically successful. In other embodiments, parameters or values generated during the course of an incomplete treatment (such as due to high temperature or high impedance conditions) may be evaluated to provide additional instructions or feedback to an operator.

ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT WITH AN END EFFECTOR

A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion. 122-. (canceled)23. A surgical stapling system , comprising:a shaft;a motor configured to generate rotary motion; a first jaw; and', 'a second jaw movable relative to said first jaw between an open position and a clamped position;, 'an end effector, comprisingan articulation joint disposed proximal to said end effector, wherein said end effector is rotatable relative to said shaft about said articulation joint;a drive member; anda rotatable member operably coupled with said motor, wherein said rotatable member is in operable engagement with said drive member, wherein said rotary motion from said motor moves said drive member to drive said second jaw toward said clamped position, and wherein an opposite rotary motion from said motor moves said drive member in an opposite direction to release said second jaw and allow said second jaw to move toward said open position.24. The surgical tool of claim 23 , wherein said second jaw is pulled toward said open position.25. The surgical tool of claim 23 , wherein said rotatable member is in threaded engagement with said drive member.26. The surgical tool of claim 23 , wherein said first jaw comprises a staple cartridge.27. The surgical tool of claim 26 , wherein said staple cartridge is replaceable.28. A surgical stapling system claim 26 , comprising: ...

ACTIVE AND SEMI-ACTIVE DAMPING

Active and semi-active damping of systems include a first link supported by a base, a second link, a damper coupling the first link to the second link, the damper having a variable damping coefficient, and a processor. The processor is configured to predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link and adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link. 1. A system comprising:a first link supported by a base;a second link;a damper coupling the first link to the second link, the damper having a variable damping coefficient; and predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link; and', 'adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link., 'a processor configured to2. The system of claim 1 , wherein the processor is further configured to control a tool supported by the second link based on the commanded movement.3. The system of claim 1 , wherein the damper comprises a spring element and a variable damping element.4. The system of claim 1 , wherein a variable portion of the damper comprises a variable damping element.5. The system of claim 1 , wherein the damper comprises an axial flexure.6. The system of claim 1 , wherein:the damper comprises a top plate and a bottom plate connected by an axial flexure; anda variable portion of the damper comprises a plurality of variable damping elements radially positioned around the axial flexure.7. The system of claim 6 , further comprising a radial flexure coupled to the top plate of the damper.8. The system of claim 7 , further comprising a decoupling flexure positioned between the axial flexure and the radial flexure.9. The system of claim 1 , wherein the damper comprises a top ...

SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT

The present disclosure provides a method for controlling a surgical instrument. The method includes connecting a power assembly to a control circuit, wherein the power assembly is configured to provide a source voltage, energizing, by the power assembly, a voltage boost convertor circuit configured to provide a set voltage greater than the source voltage, and energizing, by the voltage boost convertor, one or more voltage convertors configured to provide one or more operating voltages to one or more circuit components. 1. A method for controlling a surgical instrument , the method comprising:connecting a power assembly to a control circuit, wherein the power assembly is configured to provide a source voltage;energizing, by the power assembly, a voltage boost convertor circuit configured to provide a set voltage greater than the source voltage; andenergizing, by the voltage boost convertor, one or more voltage convertors configured to provide one or more operating voltages to one or more circuit components.2. The method of claim 1 , comprising energizing claim 1 , by the voltage boost convertor claim 1 , a first regulator configured to provide a first operating voltage to a first subset of the one or more circuit components.3. The method of claim 2 , comprising energizing claim 2 , by the first regulator convertor claim 2 , a second regulator configured to provide a second operating voltage to a second subset of the one or more circuit components.4. The method of claim 3 , wherein the voltage boost convertor claim 3 , the first regulator claim 3 , and the second regulator are coupled in a daisy chain configuration.5. The method of claim 4 , comprising providing claim 4 , by the power assembly claim 4 , a voltage of about 12 volts claim 4 , the set voltage comprises a voltage of about 13 volts claim 4 , the first operating voltage comprises a voltage of about 5 volts claim 4 , and the second operating voltage comprises a voltage of about 3.3 volts.6. The method of ...

CORDLESS HAND-HELD ULTRASONIC SURGICAL DEVICE

An ultrasonic surgical device includes a handle body, an ultrasonic waveguide engaged with the handle body and extending distally therefrom and including a proximal end portion disposed at the handle body, an ultrasonic generator releasably engagable with the handle body and including a first set of contacts, and an ultrasonic transducer releasably engagable with the handle body independently of the ultrasonic generator. The ultrasonic transducer includes a distal end portion configured to engage the proximal end portion of the ultrasonic waveguide and a second set of contacts configured to electrically couple to the first set of contacts. 117-. (canceled)18. An ultrasonic surgical device , comprising:a handle body;an ultrasonic waveguide engaged with the handle body and extending distally therefrom, the ultrasonic waveguide including a proximal end portion disposed at the handle body;an ultrasonic generator releasably engagable with the handle body, the ultrasonic generator including a first set of contacts; andan ultrasonic transducer releasably engagable with the handle body independently of the ultrasonic generator, the ultrasonic transducer including a distal end portion configured to engage the proximal end portion of the ultrasonic waveguide and a second set of contacts configured to electrically couple to the first set of contacts.19. The ultrasonic surgical device according to claim 18 , wherein the handle body includes a waveguide attachment dock engaging the ultrasonic waveguide claim 18 , a generator attachment dock configured to engage the ultrasonic generator claim 18 , and a transducer attachment docket configured to engage the ultrasonic transducer.20. The ultrasonic surgical device according to claim 18 , further comprising a battery releasably engagable with the handle body claim 18 , the battery configured to power the ultrasonic generator.21. The ultrasonic surgical device according to claim 20 , wherein the handle body includes a battery-holding ...

Dynamized Interspinal Implant

An interspinous process having a narrowed distal portion. 115-. (canceled)16. A surgical method , comprising: an upper surface of an upper portion of the device bears against the upper vertebra;', 'teeth extending from the upper portion of the device grip the upper vertebra;', 'a lower surface of a lower portion of the device bears against the lower vertebra;', 'teeth extending from the lower portion of the device grip the lower vertebra;, 'inserting an intervertebral device between upper and lower vertebrae such thatwherein the upper and lower portions of the device extend in a non-parallel manner in an anterior-posterior direction;wherein the device includes a wall disposed between the upper and lower surfaces;inserting an upper bone fastener through a hole formed in an upper extension of the device that extends above the upper surface, the bone fastener extending into a lateral-facing surface of the upper vertebra; andinserting a lower bone fastener through a hole formed in a lower extension of the device that extends beneath the lower surface, the bone fastener extending into a lateral-facing surface of the lower vertebra.17. The method of claim 16 , wherein a height between a posterior end of the upper surface of the upper portion and a posterior end of the lower surface of the lower portion is adapted to change after the device is inserted.18. The method of claim 16 , wherein the device has a height that narrows in an anterior-posterior direction.19. The method of claim 16 , wherein a length of the device is at least twice a width of the device.20. The method of claim 16 , wherein a first dimension of the device selected from length and width in a plane transverse to the spinal axis is at least twice as great as a second dimension of the device selected from length and width in the plane transverse to the spinal axis.21. The method of claim 16 , wherein the length of the upper extension is less than the length of the upper portion.22. The method of claim 16 , ...

Surgical clip applier comprising an automatic clip feeding system

A surgical clip applier is disclosed which is configured to automatically feed a clip from a clip cartridge once the surgical clip applier is positioned in the patient.

Atherectomy system

Medical systems and methods for making and using medical systems are disclosed. Example medical systems may include an atherectomy system configured to engage and remove plaque from walls in vessels of a vascular system. The atherectomy system may include a drive shaft, a rotational tip coupled to an end of the drive shaft, a drive mechanism coupled to the drive shaft to rotate the rotational tip, and a control unit configured to control operation of the drive mechanism. In some cases, the control unit may include a controller for controlling operation of the drive mechanism based on sensed positions of the drive mechanism. The controller may be configured to send data to a host for analysis, compensate a control signal based on a mode of operation of the drive mechanism, determine if a stall is predicted to occur, and/or perform one or more other functions.

SKIN TREATMENT APPARATUS

A skin treatment device () comprises:—a housing ();—a treatment action performer () arranged within the housing () for performing a treatment action on the user's skin () through an output window ();—a speed sensor () for sensing a relative speed between the housing and the user's skin;—a control device () provided with an associated memory () containing information defining a desired displacement speed, the control device receiving an output signal from the speed sensor;—an optical speed deviation indicator system () comprising a position reference () and means for generating an optical spot () of variable position with respect to the position reference. The control device controls the optical speed deviation indicator system on the basis of the output signal received from the speed sensor and the information in its memory. 1. Skin treatment device , comprising:a housing the shape and size of which are such that it can suitably be held by a human hand, the housing having a skin-side to be directed to a user's skin and an output window arranged on the skin-side,a treatment action performer arranged within the housing for performing a treatment action on the user's skin through the output windowa speed sensor for sensing a relative speed between the housing and the user's skin in a device displacement direction (X) parallel to the skin;an optical speed deviation indicator system comprising a position reference and means for generating at least one optical spot of variable position with respect to the position reference;a control device provided with an associated memory containing information defining a desired displacement speed or a desired displacement speed range, the control device being coupled to receive an output signal from the speed sensor and being coupled to provide a control signal to the optical speed deviation indicator system;wherein the control device is adapted to control the optical speed deviation indicator system such as to vary the position of ...

REPLACEABLE BATTERY UNIT FOR A SURGICAL POWER TOOL

A replaceable battery unit for a surgical power tool and a method of operating a surgical power tool including the replaceable battery unit. The replaceable battery unit includes a housing containing one or more battery cells, a motion sensor unit, and a controller. The controller is operable to determine, from an output of the motion sensor unit, a sudden movement of the replaceable battery unit indicative of a kickback event of the surgical power tool. The controller is also operable, in response to the determination, to disconnect power from the replaceable battery unit to the surgical power tool. 1. A replaceable battery unit for a surgical power tool , the replaceable battery unit comprising a housing containing:one or more battery cells;a motion sensor unit; and determine, from an output of the motion sensor unit, a sudden movement of the replaceable battery unit indicative of a kickback event of the surgical power tool; and', 'in response to said determination, disconnect power from the replaceable battery unit to the surgical power tool., 'a controller operable to2. The replaceable battery unit of claim 1 , wherein the replaceable battery unit further includes a current sensor for sensing a flow of current to a motor of the surgical power tool claim 1 , and wherein the controller is further operable to determine claim 1 , from an output of the motion sensor unit and from an output of the current sensor claim 1 , whether a sudden movement of the replaceable battery unit is indicative of a kickback event of the surgical power tool.3. The replaceable battery unit of claim 2 , wherein the controller is operable to determine claim 2 , from an increase in current sensed by the current sensor claim 2 , that a contemporaneous claim 2 , sudden movement of the replaceable battery unit sensed by the motion sensor unit is indicative of a kickback event of the surgical power tool.4. The replaceable battery unit of claim 1 , wherein the motion sensor unit comprises at ...

ELECTRICALLY-POWERED SURGICAL SYSTEMS WITH ARTICULATION-COMPENSATED ULTRASONIC ENERGY DELIVERY

Surgical systems and methods are provided for controlling actuation and movement of various surgical devices. 1. A surgical system , comprising:an end effector having an ultrasonic blade and a clamping element, the ultrasonic blade configured to receive ultrasonic vibrations from an ultrasonic transducer and the clamping element configured to clamp and treat tissue disposed between the clamping element and the ultrasonic blade as ultrasonic vibrations are applied to the tissue from the ultrasonic blade;a shaft assembly having a longitudinal axis and the end effector disposed at a distal end thereof, wherein the shaft assembly includes an articulation section operable to deflect the end effector away at the longitudinal axis an articulation angle between a minimum articulation angle of about 0 degrees when the end effector is aligned with the longitudinal axis of the shaft assembly to a maximum non-zero articulation angle in either direction when the end effector is not aligned with the longitudinal axis of the shaft assembly;an interface assembly having one or more drive shafts coupled to the end effector and the shaft assembly configured to drive movement of the end effector and the shaft assembly; anda control system configured to control an amplitude of ultrasonic vibrations received by the ultrasonic blade such that the amplitude increases with an increase in the articulation angle of the end effector.2. The system of claim 1 , wherein the control system is configured to measure rotation of a first drive shaft that is operable to adjust the articulation angle of the end effector.3. The system of claim 2 , wherein the control system is configured to control the amplitude of the ultrasonic vibrations based upon the measured rotation of the first drive shaft.4. The system of claim 3 , wherein the control system is configured to control the amplitude of the ultrasonic vibrations during articulation of the end effector.5. The system of claim 1 , wherein the control ...

EXPANDABLE DEVICES, RAIL SYSTEMS, AND MOTORIZED DEVICES

Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity. 1. An expandable device comprising:a. a first sac, wherein the first sac is expandable;b. a rail in the lumen of the first sac; andc. a railed device coupled to the rail for movement there on.2. The expandable device of claim 1 , wherein the rail is mounted to the luminal wall of the first sac.3. The expandable device of claim 1 , further comprising a motor for providing said movement of the railed device.4. The expandable device of claim 3 , wherein the motor comprises at least one electromagnet.5. The expandable device of claim 4 , wherein:a. the railed device comprises a plurality of railcars independently movable on the rail;b. the at least one electromagnet is on at least one of said railcars.6. The expandable device of claim 5 , wherein the at least one electromagnet is plurality of electromagnets claim 5 , each on an independent railcar.7. The expandable device of claim 6 , wherein the plurality of railcars comprises three railcars claim 6 , a lead railcar claim 6 , an intermediate railcar claim 6 , and a trail railcar claim 6 , wherein:the weight of the intermediate railcar is less than the lead car and less than the trail railcar;the weight of the lead railcar is less ...

Circuitry and sensors for powered medical device

An end effector is disclosed. The end effector comprises a first jaw member comprising a magnetic sensor; a second jaw member pivotally coupled to the first jaw member such that the first jaw member is pivotally moveable between an open position and a closed position, wherein the second jaw member is configured to receive a staple cartridge therein; a staple cartridge removably coupled to the second jaw member, the staple cartridge further comprising an upper surface facing the first jaw member; and a magnet positioned to be in an opposing relationship to the magnetic sensor when the first jaw member is in the closed position. The magnetic sensor is operable to detect the magnetic field of the magnet, and wherein the detected magnetic field is indicative of the distance between the anvil and the staple cartridge.

SYSTEM AND METHOD OF VERIFYING USER INTERFACE DEVICE FUNCTION

Surgical robotic systems, and methods of verifying functionality of a user interface device of such systems, are described. During a surgical procedure, the user interface device controls motion of a surgical tool. Proximity sensors of the user interface device generate proximity measures throughout the surgical procedure. The proximity measures are used to detect whether the user interface device is dropped and to responsively halt motion of the surgical tool. To verify an accuracy of the proximity sensors that provide the drop detection, a test is performed when the user interface device is placed in a dock. The test compares the generated proximity measures to expected proximity data. When the proximity measures match the expected proximity data, the system determines that the proximity sensors are functioning accurately and verifies that the user interface device is functioning safely. Other embodiments are described and claimed. 1. A method of verifying functionality of a user interface device of a surgical robotic system , the method comprising:determining whether the user interface device is positioned in a dock of the surgical robotic system;receiving, in response to determining that the user interface device is positioned in the dock, proximity measures between one or more proximity sensors of the user interface device and the dock;comparing the proximity measures to expected proximity data calculated based on an orientation of the user interface device in the dock; anddetermining, based on the comparison of the proximity measures to the expected proximity data, an accuracy of the one or more proximity sensors.2. The method of claim 1 , wherein the proximity measures include time-of-flight measures.3. The method of claim 1 , wherein the expected proximity data corresponds to the orientation of the user interface device when the user interface device is properly seated in the dock claim 1 , and wherein the one or more proximity sensors are determined to be ...

Surgical instrument with tissue density sensing

An apparatus comprises an end effector, a body assembly, a power source, and a control module. The end effector is operable for use in a surgical procedure and can deliver energy to a surgical site. The end effector comprises at least one sensor. The sensor is able to measure at least one physical characteristic associated with the surgical site. The body assembly is in communication with the end effector. The power source is in communication with the body assembly and is operable to deliver power to the end effector. The control module is in communication with the sensor and is operable to change delivery of power to the end effector based on data from the sensor indicating a change in tissue density.

Wireless optogenetic device and associated radiation system

A wireless optogenetic device in proximity to a neural cell of a subject includes a body configured to hold light transducing materials arranged to up-convert electromagnetic radiation in infrared or near-infrared spectrum into light in the visible spectrum to affect activity of the neural cell. The body allows electromagnetic radiation in infrared or near-infrared to reach the light transducing materials. A radiation system includes a radiation probe for irradiating a wireless optogenetic device with electromagnetic radiation in infrared or near-infrared spectrum from a radiation source. The system further includes a movement mechanism for moving the radiation probe, a detector for detecting a location of the wireless optogenetic device, and a controller for controlling the movement mechanism based on the detected location of the wireless optogenetic device such that the radiation probe is arranged to irradiate the wireless optogenetic device at the detected location with the electromagnetic radiation.

APPARATUS AND METHOD FOR TREATING RHINITIS

Devices and methods for treating rhinitis are described where the devices are configured to ablate a single nerve branch or multiple nerve branches of the posterior nasal nerves located within the nasal cavity. A surgical probe may be inserted into the sub-mucosal space of a lateral nasal wall and advanced towards a posterior nasal nerve associated with a middle nasal turbinate or an inferior nasal turbinate into a position proximate to the posterior nasal nerve where neuroablation of the posterior nasal nerve may be performed with the surgical probe. The probe device may utilize a visible light beacon that provides trans-illumination of the sub-mucosal tissue or an expandable structure disposed in the vicinity of the distal end of the probe shaft to enable the surgeon to visualize the sub-mucosal position of the distal end of the surgical probe from inside the nasal cavity using, e.g., an endoscope. 1a surgical probe shaft having an elongated hollow structure with a proximal end and a distal end, wherein the surgical probe shaft is sized for insertion into and advancement within a sub-mucosal space of a lateral nasal wall from within a nasal cavity of a patient;a handle coupled to the proximal end to facilitate handling and positioning of the surgical probe shaft within the nasal cavity;a position indicator disposed in the vicinity of the distal end of the surgical probe shaft to facilitate visual tracking of a position of the distal end of the surgical probe shaft within the sub-mucosal space of the lateral nasal wall; anda cryo-ablation element coupled to the distal end of the surgical probe shaft configured to cryogenically ablate at least one nasal nerve to reduce at least one symptom of rhinitis.. A cryo-surgical probe having a position indicator for treating rhinitis of a patient, the cryo-surgical probe comprising: The present application is a Continuation of U.S. application Ser. No. 14/808,690 filed Jul. 24, 2015, which claims the benefit of U.S. ...

SURGICAL ROBOTIC SYSTEMS WITH TARGET TRAJECTORY DEVIATION MONITORING AND RELATED METHODS

A method may be provided to operate a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient. Position information may be received where the position information is generated using a sensor system remote from the robotic arm and remote from the patient. The position information may include position information relating to a tracking device affixed to the patient and position information relating to the surgical end-effector. The robotic arm may be controlled to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the position information generated using the sensor system. 1. A method of operating a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient , the method comprising:accessing a model of movement of the anatomical location relative to a tracking device for a plurality of phases of a breathing cycle wherein the model provides a plurality of offsets of the anatomical location relative to the tracking device so that a respective one of the plurality of offsets is associated with a respective one of the plurality of phases of the breathing cycle;receiving position information generated using a sensor system remote from the robotic arm and remote from the patient, wherein the position information includes information relating to positions of the tracking device affixed to the patient and positions of the surgical end-effector as the tracking device moves due to the patient breathing;detecting the plurality of phases of the breathing cycle as the tracking device moves due to the patient breathing; andcontrolling the robotic arm to maintain the surgical end-effector at a target trajectory relative to the anatomical location of the patient as the tracking device moves due to the patient breathing, wherein the controlling is ...

Atherectomy Devices and Methods

Rotational atherectomy devices and systems can remove or reduce stenotic lesions in blood vessels by rotating an abrasive element within the vessel. The abrasive element can be attached to a distal portion of an elongate flexible drive shaft that extends from a handle assembly. In particular embodiments, the handle assembly includes a compressed gas driven turbine member that drives rotation of the drive shaft. The turbine member can be rotatably attached to a carriage that is longitudinally translatable in relation to a housing of the handle assembly. The handle assembly can include a latch mechanism that when actuated allows the carriage to translate to a proximal-most position. While the carriage is in the proximal-most position, an open pathway is created so that a guidewire can be slidably passed through the handle assembly and a lumen of the drive shaft. 1. A rotational atherectomy system comprising: a handle assembly including a housing, a rotatable member disposed within the housing, and a carriage to which the rotatable member is rotatably attached, wherein the carriage is longitudinally translatable in relation to the housing;', 'an elongate flexible drive shaft comprising a torque-transmitting coil extending from the housing, the drive shaft defining a central lumen and a longitudinal axis, and the drive shaft being coupled to the rotatable member such that rotation of the rotatable member rotates the drive shaft about the longitudinal axis;', 'a combination of multiple eccentric abrasive elements and a concentric distal stability element attached to the drive shaft, each of the multiple eccentric abrasive elements being longitudinally spaced apart from one another and having a respective center of mass offset from the longitudinal axis while the concentric distal stability element is spaced distally from the multiple eccentric abrasive elements and has a respective center of mass aligned with the longitudinal axis;', 'a sheath having a proximal end ...

Local display of tissue parameter stabilization

A staple cartridge for use with a surgical stapler and surgical stapling systems are disclosed. The staple cartridge comprises a cartridge body having a tissue-contacting surface. One or more light emitting diodes (LEDs) are positioned at the edges of the tissue-contacting surface. A plurality of staple drivers is located within the cartridge body each supporting a staple.

Atherectomy Devices and Methods

Rotational atherectomy devices and systems can remove or reduce stenotic lesions in blood vessels by rotating an abrasive element within the vessel. The abrasive element can be attached to a distal portion of an elongate flexible drive shaft that extends from a handle assembly. In particular embodiments, the handle assembly includes a compressed gas driven turbine member that drives rotation of the drive shaft. The turbine member can be rotatably attached to a carriage that is longitudinally translatable in relation to a housing of the handle assembly. The handle assembly can include a latch mechanism that when actuated allows the carriage to translate to a proximal-most position. While the carriage is in the proximal-most position, an open pathway is created so that a guidewire can be slidably passed through the handle assembly and a lumen of the drive shaft. 2. The method of claim 1 , wherein the rotation atherectomy device further comprises a carriage to which the rotatable member is coupled.3. The method of claim 2 , further comprising longitudinally translating the carriage in relation to a housing of the handle assembly claim 2 , and wherein longitudinal translations of the rotatable member result in corresponding longitudinal translations of the drive shaft.4. The method of claim 3 , wherein when the carriage is located in a first position claim 3 , an access port defined by the housing is in fluid communication with a central lumen of the drive shaft.5. The method of claim 4 , wherein when the carriage is shifted away from the first position claim 4 , an access port defined by the housing is disconnected from fluid communication with the central lumen of the drive shaft.6. The method of claim 5 , wherein the first position is a proximal-most position of the carriage claim 5 , and when the carriage is located in the proximal-most position and a latch mechanism is deactivated claim 5 , the carriage is detained in the proximal-most position.7. The method of ...

Systems and Devices for Cutting Tissue

Systems and devices are described which include a tissue cutting device including a central rotatable shaft having a first end and a second end; a motor operably coupled to the first end of the central rotatable shaft, the motor including circuitry configured to rotate the central rotatable shaft; a tethering component; and an elongated flexible cutting component having a first end and a second end, the first end of the elongated flexible cutting component secured to the central rotatable shaft at a position between the first end and the second end central rotatable shaft, the second end of the elongated flexible cutting component operably coupled to the tethering component, the tethering component configured to at least one of extend and retract the elongated flexible cutting component; wherein extension and retraction of the elongated flexible cutting component by the tethering component changes a shape formed by the elongated flexible cutting component. 1. A tissue cutting device comprising:a central rotatable shaft having a first end and a second end;a motor operably coupled to the first end of the central rotatable shaft, the motor including circuitry configured to rotate the central rotatable shaft;a tethering component; andan elongated flexible cutting component having a first end and a second end, the first end of the elongated flexible cutting component secured to the central rotatable shaft at a position between the first end and the second end of the central rotatable shaft, the second end of the elongated flexible cutting component operably coupled to the tethering component, the tethering component configured to at least one of extend and retract the elongated flexible cutting component;wherein extension and retraction of the elongated flexible cutting component by the tethering component changes a shape formed by the elongated flexible cutting component.2. The device of claim 1 , further comprising:a computing component operably coupled to at least one ...

ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT WITH AN END EFFECTOR

A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion. 1. A surgical end effector , comprising:a first jaw member;a second jaw member movable relative to the first jaw member between and open position and a closed position;camming means for camming the second jaw member relative to the first jaw member from the open position to the closed position and for camming the second jaw member relative to the first jaw member from the closed position to the open position, wherein the camming means is configured to apply actuation forces onto the first jaw member and the second jaw member simultaneously to move the second jaw member relative to the first jaw member from the open position to the closed position; androtary input means for driving the camming means.2. The surgical end effector of claim 1 , wherein the rotary input means comprises a motor configured to drive the camming means.3. The surgical end effector of claim 2 , wherein the motor is coupled to a battery configured to provide power to the motor.4. The surgical end effector of claim 2 , wherein the motor is configured to generate at least one rotational motion claim 2 , and wherein the at least one rotational motion causes the camming means to move the second jaw member from the closed position to the open position.5. The surgical end effector of claim 4 , wherein the motor is configured ...

Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures

A powered surgical cutting and stapling instrument is disclosed. The instrument includes at least one sensor to measure at least one parameter associated with the instrument, at least one processor, and a memory operatively associated with the processor. The memory includes machine executable instructions that when executed by the processor cause the processor to monitor the at least one sensor over a predetermined time period and determine a rate of change of the measured parameter.

SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER

A surgical instrument is disclosed. The surgical instrument can include an end effector, comprising an anvil and a staple cartridge. The surgical instrument can further include a shaft defining a longitudinal axis. The surgical instrument can also include an articulation joint, wherein the end effector is rotatably connected to the shaft about the articulation joint between an unarticulated position and at least one articulated position. The surgical instrument can include means for adjusting the length of a firing stroke as a function of the degree in which the end effector is articulated relative to the longitudinal axis. The surgical instrument can include a sensor configured to defect shifting of lateral portions of a flexible firing bar that extends through the articulation joint. Additionally or alternatively, the surgical instrument can include a relief feature configured to accommodate shifting of lateral portions of a flexible firing bar. 120-. (canceled)21. A surgical instrument comprising:an end effector pivotable between an unarticulated position and an articulated position;a flexible firing bar movable relative to the end effector;wherein a length of the flexible firing bar varies between a first length and a second length according to an angular position of the end effector between the unarticulated position and the articulated position; anda detection system configured to detect the length of the flexible firing bar.22. The surgical instrument of claim 21 , wherein:the flexible firing bar comprises a first layer and a second layer;the first layer is configured to shift relative to the second layer based on the angular position between the unarticulated position to the articulated position; andthe length of the flexible firing bar corresponds to a distance between a distal end of the first layer and a proximal end of the second layer.23. The surgical instrument of claim 21 , wherein the detection system comprises:a plurality of magnets disposed ...

TOURNIQUET SYSTEM FOR PERSONALIZED RESTRICTION OF BLOOD FLOW

Disclosed is a system and method for regulating tourniquet cuff pressure to restrict blood flow penetration past the cuff based on a personalized restrictive pressure (PRP). The system includes mechanisms for estimating a limb occlusion pressure (LOP) by determining a minimum pressure at which arterial blood penetration past an applied tourniquet cuff is stopped and measuring a pulsation characteristic associated with the LOP. Thereafter, the system establishes a PRP by determining a second pressure that restricts but does not stop arterial blood penetration past the cuff and that corresponds to a second pulsation characteristic differing by a percentage from the pulsation characteristic associated with the LOP. During a limb-activity time period, the system maintains pressure in the applied tourniquet cuff near the PRP, thereby restricting but not stopping arterial blood penetration past the cuff during the activity time period. 1. Apparatus for personalized restriction of blood flow into a limb and penetration past a tourniquet cuff based on a personalized restrictive pressure (PRP) , comprising:a dual-purpose tourniquet cuff having an inflatable bladder adapted to encircle a limb;a sensor module having a pulsation sensor communicating pneumatically with the inflatable bladder of the dual-purpose cuff for sensing and characterizing pressure pulsations indicative of a limb occlusion pressure (LOP), thereby to identify a minimum pressure at which arterial blood penetration past the cuff is stopped;a PRP estimator responsive to the sensor module for producing an estimate of a PRP, wherein the estimate of the PRP is less than the LOP and indicative of a level of pressure in the inflatable bladder that restricts but does not stop arterial blood penetration past the cuff;an effector module communicating pneumatically with the inflatable bladder of the dual-purpose cuff for maintaining pressure in the bladder near the PRP, thereby restricting but not stopping arterial ...

Adjustable implant, system and methods

Aspects of the disclosure relate to an adjustable implant configured to be implanted into a patient that includes an adjustable portion moveable relative to a housing. The adjustable implant may include various smart components for enhancing operation of the implant. Smart components may include a controller for managing operations and a transducer for communicating ultrasound data with an external interface device. Additional smart components may include a load cell within the housing for measuring an imparted load; a sensor for measuring angular position of the adjustable portion; a dual sensor arrangement for measuring imparted forces; a reed switch; a half piezo transducer; and an energy harvester.

DEVICE AND METHOD FOR ASSISTING LAPAROSCOPIC SURGERY - RULE BASED APPROACH

The present invention provides a surgical controlling system, comprising: a. at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure; b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t; c. at least one movement detection means communicable with a movement's database and with said location estimating means; and, d. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool; said controller's database is in communication with said movement detection means. 1. A surgical controlling system , comprising:at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure;at least one location estimating means configured to real-time locate a 3D spatial position of said at least one surgical tool at any given time t;{'sub': f', 'o', 'f', 'o', 'f', 'o, "at least one movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one surgical tool at time tand at time t; where t>t; said movement detection means is configured to detect movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time tis different than said 3D spatial position of said at least one surgical tool at time t; and,"}a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool; said controller's database is in communication with said movement detection means;wherein a predetermined set of rules is storable in said controller's database, according to ...

Puncture apparatus

A puncture apparatus is disclosed, which can include an elongated insertion portion configured to be inserted into a living body lumen, a puncture needle configured to puncture a living body tissue near the insertion portion from a part different from the living body lumen, with the insertion portion inserted in the living body lumen, a puncture needle guide portion, which movably supports the puncture needle and which determines a puncture path for a needle tip of the puncture needle when the puncture needle punctures the living body tissue, an ultrasonic transmission-reception section in the insertion portion or the puncture needle guide portion, for transmission and reception of an ultrasonic wave, and an image data production section for producing image data for displaying on a display section an image including the living body lumen and a predicted path of the puncture path, based on information acquired by the ultrasonic transmission-reception section.

Feedback dependent lithotripsy energy delivery

A lithotripter is provided that includes a lithotripsy apparatus for treatment of a urinary tract stone by fragmentation. The lithotripsy apparatus includes a lithotripsy wave guide shaft configured to transmit an energy form to at least one urinary tract stone. The lithotripter includes a sensing device configured to provide signal data for determining optimal application of energy during treatment with the lithotripsy apparatus. The lithotripter includes a processor configured to collect the signal data and provide feedback to a user. The processor has a control logic configured to determine at least one of: a) if the lithotripsy wave guide shaft is in contact with a tissue; b) if the lithotripsy wave guide shaft is in contact with a stone; c) type of stone; d) if a user is applying force in excess of a predetermined threshold; and e) physical characteristics of a stone. A method is also provided.

Surgical suturing instrument comprising a non-circular needle

A surgical suturing system is disclosed. The surgical suturing system comprises a shaft comprising a shaft diameter, a firing drive, and an end effector extending distally from the shaft. The end effector comprises a needle track and a needle comprising suturing material attached thereto, wherein the needle is configured to be guided by the needle track and actuated by the firing drive through a firing stroke, and wherein the needle is movable along a needle path comprising a maximum capture width which is greater than the shaft diameter.

Surgical clip applier comprising adaptive firing control

A surgical clip applier comprising an electric motor system is disclosed. The electric motor system is configured to drive one or more drive systems of the surgical clip applier. The surgical clip applier comprises a control system configured to control the electric motor system. The control system is configured to monitor a parameter of the electric motor system to assess the operation of the one or more drive systems. In at least one instance, the control system monitors the electric current drawn by an electric motor and adapts the operation of the electric motor based on the electric current being drawn by the motor. The control system slows the electric motor down when the electric current drawn by the electric motor exceeds a threshold. The control system modulates the width, or duration, of voltage pulses applied to the electric motor to control the speed of the electric motor.

Adjustment to transfer parameters to improve available power

Disclosed is a surgical instrument, comprising an end effector configured to grasp tissue. The end effector comprises a jaw, and a staple cartridge seatable in the jaw, wherein the staple cartridge comprises a sensor array. The surgical instrument further comprises a power source configured to supply power to the staple cartridge, and a transmission system. The transmission system is configured to wirelessly transmit the power from the surgical instrument to the staple cartridge, monitor an efficiency of a transfer of the power from the surgical instrument to the staple cartridge, and adjust a transfer parameter based on the efficiency of the transfer.

Method of powering and communicating with a staple cartridge

A method for sensing tissue data and managing processing power is disclosed.

CUTTING GUIDE SYSTEMS AND METHODS

Cutting guide systems for adjusting and stabilizing cutting devices are disclosed. Example cutting guide systems may be used in orthopedic surgery. In some examples, a cutting guide system comprises a support mount, a joint, and a cutting instrument support, wherein the joint permits the cutting instrument support to be adjusted with respect to the support mount. The joint may permit the cutting instrument support to be rotated about at least two axes. The joint may be lockable to hold the position of the cutting instrument support. A cutting instrument may be pivotable and/or movable in a longitudinal direction with respect to the cutting instrument support. In some examples, a cutting guide system comprises a track, wherein a cutting instrument support is connected to the track in a manner that permits the cutting instrument support to move along a path. Methods of using cutting guide systems are also disclosed. 1. A cutting guide system for stabilizing a cutting instrument , the cutting guide system comprising:a support mount attachable in a fixed relation with respect to an object to be cut by the cutting instrument;a joint; anda cutting instrument support;wherein the joint is adapted to permit the cutting instrument support to be adjusted with respect to the support mount.2. A cutting guide system as recited in claim 1 , wherein the joint is adapted to permit the cutting instrument support to be rotated about at least two axes.3. A cutting guide system as recited in claim 1 , wherein the joint comprises a ball and socket.4. A cutting guide system as recited in claim 3 , wherein the ball and socket are lockable with respect to each other.5. A cutting guide system as recited in claim 3 , wherein the cutting instrument support comprises a stem connected to the ball or the socket.6. A cutting guide system as recited in claim 1 , wherein the joint comprises a first hinge comprising a first rod and a first opening claim 1 , wherein the first rod is positioned in the ...

Surgical dissectors configured to apply mechanical and electrical energy

A surgical instrument comprising an end effector is disclosed. The end effector comprises a surgical dissector. The surgical dissector can apply mechanical and/or electrosurgical energy to treated tissue.

SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM

A surgical instrument configured for use in a surgical procedure is disclosed herein. The surgical instrument comprises a housing, a first sensor configured to detect a condition of the surgical instrument, and a second sensor configured to detect the condition of the surgical instrument. The surgical instrument further comprises a processor, wherein the processor is located within the housing. The first sensor and the second sensor are in signal communication with the processor. The processor receives a first signal from the first sensor and a second signal from the second sensor. The processor is configured to utilize the first signal and the second signal to determine the condition and communicate instructions to the surgical instrument during the surgical procedure in view of the condition. 1. A surgical instrument , comprising:a handle;a shaft;an end effector comprising a staple cartridge, wherein said end effector is articulatable relative to said shaft;a first sensor configured to detect a condition of said surgical instrument, wherein said condition includes one of an end effector articulation operating mode and a staple firing operating mode;a second sensor configured to detect said condition; anda processor, wherein said first sensor and said second sensor are in signal communication with said processor, wherein said processor receives a first signal from said first sensor, wherein said processor receives a second signal from said second sensor, wherein said processor is configured to utilize said first signal and said second signal to determine said condition, and wherein said processor is configured to communicate instructions to said surgical instrument in view of said condition.2. The surgical instrument of claim 1 , wherein said first sensor comprises a Hall Effect sensor.3. The surgical instrument of claim 1 , wherein said first sensor comprises a moisture sensor.4. The surgical instrument of claim 1 , wherein said first sensor comprises an ...

Rotation control systems for surgical instruments

A surgical instrument includes a handle assembly, an elongate member, and a motor assembly. The elongate member extends from the handle assembly and defines a longitudinal axis of the surgical instrument. The motor assembly is disposed within the handle assembly and is configured to rotate the elongate member about the longitudinal axis relative to that handle assembly in response to sensed movement of the handle assembly about the longitudinal axis.

AUTOMATED END EFFECTOR COMPONENT RELOADING SYSTEM FOR USE WITH A ROBOTIC SYSTEM

A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors. 1. An automated reloading system for replacing a spent surgical end effector component in a manipulatable robotic tool portion of a robotic surgical system with a new surgical end effector component , said automated reloading system comprising:an extraction system supportable within a work envelope of the manipulatable robotic tool portion of the robotic surgical system, said extraction system configured to automatically dislodge said spent surgical end effector component from a component support portion of said manipulatable robotic tool portion when said manipulatable robotic tool portion moves said spent surgical end effector into extractive engagement therewith; anda new component support arrangement supportable within the work envelope, said new component support arrangement supporting at least one said new surgical end effector component in a loading orientation such that when said manipulatable robotic tool portion moves said component support portion into loading engagement with one of said at least one new surgical end effector components, said one of said at least one new surgical end effector components is loaded therein.2. The automated reloading system of further comprising a collection receptacle adjacent said extraction system such that when said spent ...

Tissue-Removing Catheter Including Operational Control Mechanism

A tissue-removing catheter includes a sensor configured to detect a parameter of the catheter during the cutting operation of the catheter when a tissue-removing element is in a tissue-removing position. A locking control circuit is in electrical communication with the sensor and a locking device. During an operational control function, the locking control circuit receives a signal from the sensor based at least in part on the parameter of the catheter detected during the cutting operation of the catheter. The locking control circuit determines whether the received signal is indicative of a tissue-removing element engaging a non-tissue obstruction. The locking control circuit configures the locking device in its locked configuration to inhibit movement of the tissue-removing element from its tissue-removing position to its neutral position if the received signal is indicative of the tissue-removing element engaging a non-tissue obstruction.

CATHETER MOVEMENT CONTROL

An endovascular device monitoring system is provided that determines, based on movement of the endovascular device past a selected reference location, at least one of a movement rate of an endovascular device and position of a distal end of an endovascular device in a body of a patient. 1. A system comprising:a sheath;a laser catheter configured to move relative to the sheath, wherein the laser catheter comprises a distal tip, and wherein the sheath or the laser catheter comprises a sensor configured to sense a position of the distal tip of the laser catheter relative to the sheath; and (A) whereupon the controller being in the assisted mode and receiving a signal indicative of the position of the distal tip, the controller is configured to regulate an operational parameter of the laser catheter; and', '(B) whereupon the controller being in the unassisted mode and receiving the signal indicative of the position of the distal tip, the controller is configured to provide feedback to a user and configured not to regulate the one or more operational parameters., 'a controller comprising a non-transient, tangible computer readable medium including logic, whereupon execution of the logic, the controller receives a selection signal to operate in either an assisted mode or an unassisted mode2. The system of claim 1 , wherein the operational parameter is an operational state of the laser catheter.3. The system of claim 2 , wherein the operational state of the laser catheter is on.4. The system of claim 2 , wherein the operational state of the laser catheter is off5. The system of claim 1 , wherein the operational parameter is an emission of laser energy by the laser catheter.6. The system of claim 1 , wherein the operational parameter is an intensity of laser energy by the laser catheter.7. The system of claim 1 , wherein the feedback comprises audible claim 1 , tactile or visual feedback.8. The system of claim 7 , wherein the feedback comprises audible feedback.9. The ...

Method and apparatus to account for transponder tagged objects used during clinical procedures, employing a trocar

Medical procedure related objects (e.g., instruments, supplies) tagged with transponders (e.g., RFID transponders, dumb transponders) are accounted for in a medical or clinical environment via an accounting system using a number of antennas and interrogators/readers. A first set of antennas and RFID interrogator(s) interrogate portions of the environment for RFID tagged objects, for example proximate a start and an end of a procedure. A cannula of a trocar may include one or more trocar antennas positioned and oriented to integrate tapped objects that pass through a lumen of the cannula. Shielded packaging and/or shielded receptacles shield tagged objects, preventing interrogation except for those objects in unshielded portions of the environment. A data store may maintain information including a current status or count of each instrument or supply, for instance as checked in or checked out. A handheld antenna and/or second set of antennas interrogates a body of a patient for retained instruments or supplies tagged with dumb transponders.

Articulatable surgical instruments with conductive pathways for signal communication

A cover for an articulation joint that is supported in an elongate shaft assembly of a surgical instrument that is operably coupled to a surgical end effector that includes at least one end effector conductor therein. The cover includes at least one electrically conductive pathway that extends from the distal end of the cover to form an electrically conductive pathway from the end effector conductor to a shaft conductor on the elongate shaft assembly while facilitating operation of the articulation joint. Various conductor arrangements facilitating the passage of electrical current between an end effector to a control system across the articulation joint are also disclosed.

Electromechanical surgical device with signal relay arrangement

A surgical instrument configured to relay a low-power signal from an end effector to a remote device is disclosed. The surgical instrument may comprise a handle, a shaft extending distally from the handle, and an end effector attached to the distal end of the shaft. A sensor may be disposed in the end effector. The sensor may generate a signal indicative of a condition at the end effector. A transmitter may be located in the end effector. The transmitter may transmit the signal from the sensor at a first power level. The signal may be received by a relay station located proximally to the shaft. The relay station is configured to retransmit the signal at a second power level, wherein the second power level is higher than the first power level.

SURGICAL FASTENER APPARATUS WITH LINEAR POSITION SENSOR

A fastener apparatus includes a handle, an elongate body connected to the handle, a fastener cartridge disposed adjacent the distal end of the elongate body and having at least one fastener, a pusher at least partially disposed within the elongate body, and adapted for longitudinal movement through a firing stroke to eject the at least one fastener from the fastener cartridge, a linear position sensor mounted within the elongate body and dimensioned and positioned to engage the pusher during movement through the firing stroke and being adapted to send at least one output signal representative of strain imparted thereupon by the pusher during the firing stroke, and a controller configured and adapted to determine a position of the pusher within the firing stroke based upon the at least one output signal. 1. A fastener apparatus , which comprises:a handle;an elongate body connected to the handle, the elongate body defining a longitudinal axis and having proximal and distal ends;a fastener cartridge disposed adjacent the distal end of the elongate body, the fastener cartridge having at least one fastener;a pusher at least partially disposed within the elongate body, the pusher adapted for longitudinal movement through a firing stroke to eject the at least one fastener from the fastener cartridge;a linear position sensor mounted within the elongate body and dimensioned and positioned to engage the pusher during movement through the firing stroke, the linear position sensor adapted to send at least one output signal representative of strain imparted thereupon by the pusher during the firing stroke; anda controller configured and adapted to determine a position of the pusher within the firing stroke based upon the at least one output signal.2. The fastener apparatus according to wherein the controller includes a memory for storing calibration data associated with the strain imparted on the linear position sensor by the pusher at a plurality of positions of the pusher ...

METHOD FOR TREATING CONDITIONS OF THE GI TRACT USING A VIBRATING INGESTIBLE CAPSULE

A method for treating conditions of the gastrointestinal tract of a subject using a vibrating ingestible capsule ingested by the subject and activated in a targeted zone of the gastrointestinal tract of the subject. The conditions may include a sensation of gastric bloating, a sensation of straining during defecating, diarrhea and/or gastroparesis. The method is further suitable for reducing Bristol stool scores of fecal matter of the subject and for increasing a Bristol stool score of fecal matter of the subject. 1. A method of treating two opposite sensations within a stomach or midriff region of a human subject , or two opposite conditions of the gastrointestinal tract of the human subject , the method comprising:(a) providing, to the human subject suffering from one of the two opposite sensations or one of the two opposite conditions, a vibrating gastrointestinal capsule adapted to transit an alimentary canal of a human, said vibrating gastrointestinal capsule having:a housing;a battery, disposed within said housing; anda vibrating agitator, powered by said battery, said vibrating agitator adapted such that, in a first vibrating mode of operation, said housing exerts vibrations on an environment surrounding said vibrating gastrointestinal capsule, said vibrating gastrointestinal capsule being controllable to effect said first vibrating mode of operation; and(b) in response to the human subject feeling one of the two opposite sensations or suffering from one of the two opposite conditions, ingesting, by the human subject, said vibrating gastrointestinal capsule, to treat said one of the two opposite sensations or said one of the two opposite conditions,wherein a frequency of vibration employed by said vibrating ingestible capsule during treatment of said two opposite conditions or said two opposite sensations is in the range of 100 Hz to 650 Hz regardless of which of the two opposite conditions or the two opposite sensations is experienced by the human subject.2. ...

DEVICE AND METHOD FOR ASISSTING LAPAROSCOPIC SURGERY RULE BASED APPROACH

Surgical controlling systems and methods. A surgical controlling system includes: at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure; at least one location estimating unit to real-time locate the 3D spatial position of at least one surgical tool at any given time t; and at least one movement detection unit in communication with a movement's database and with the location estimating means. The system also includes a controller having a processing unit in communication with a controller's database. The controller controls the spatial position of at least one surgical tool. 1. A method for assisting an operator to perform a surgical procedure , comprising steps of:a. providing a surgical controlling system, comprising: (i) at least one surgical tool; (ii) at least one location estimating means; (iii) at least one movement detection means; and, (iv) a controller having a processing means communicable with a controller's database;b. inserting said at least one surgical tool into a surgical environment of a human body;c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and,{'sub': f', 'O, 'd. detecting if there is movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time tis different than said 3D spatial position of said at least one surgical tool at time t;'}e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller;wherein said step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a ...

SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS

A surgical instrument includes a motor operably coupled to a firing member, wherein the motor is configured to generate at least one rotational motion to motivate the firing member to cause staples to be deployed during a firing stroke. The surgical instrument includes a primary processor configured to determine a first acceleration of the firing member during the firing stroke, and compare the first acceleration to predetermined threshold acceleration. The surgical instrument also includes a secondary processor configured to determine a second acceleration of the firing member during the firing stroke, and compare the second acceleration to the predetermined threshold value. 1. A powered surgical stapling and cutting instrument , comprising: a housing;', 'a plurality of staple cavities;', 'a plurality of staples deployable from said staple cavities during a firing stroke;', 'a firing member movable during said firing stroke to cause said staples to be deployed from said staple cavities; and', 'a motor operably coupled to said firing member, wherein said motor is configured to generate at least one rotational motion to motivate said firing member to cause said staples to be deployed from said staple cavities during said firing stroke;, 'a staple cartridge, comprising a primary processor; and', determine a first acceleration of said firing member during said firing stroke; and', 'compare said first acceleration to a predetermined threshold acceleration; and, 'a primary storage medium storing first program instructions which, when executed by the primary processor, cause the primary processor to], 'a primary controller, comprising a secondary processor; and', determine a second acceleration of said firing member during said firing stroke; and', 'compare said second acceleration to said predetermined threshold value., 'a secondary storage medium storing second program instructions which, when executed by said secondary processor, cause the secondary processor to], 'a ...

Devices and methods to prevent joint instability following arthroplasty

A kit includes a distractor, a plurality of trial elements, and at least one sensor. The distractor is configured to separate a first bone from a second bone by adjusting the distance between a first member and a second member, and is configured to receive at least one sensor in the first portion. Each of the trial elements corresponds to one of a plurality of surgical implants, is configured to be temporarily coupled to the second bone so as to evaluate suitability of the corresponding one of the plurality of surgical implants for implantation, and is configured to receive at least one sensor. The at least one sensor is configured to be received in the distractor or one of the trial elements, and is configured to record a magnitude of a force, a direction of application of a force, a pressure mapping, or a location of application of a force.

Photoarray system illumination patterns and power management

Embodiments of a photoarray system are provided. In one embodiment, a photoarray system includes a lixel array comprising a plurality of lixels each supporting one or more radiation sources; a power source associated with the lixel array; and a control system associated with the power source and each of the radiation sources, the control system comprising a master processor-readable medium configured to store at least a portion of data that specifies at least one lixel illumination pattern, the control system further comprising master processing structure configured to regulate use of power individually by each of the radiation sources based on the at least one lixel illumination pattern.

SURGICAL SYSTEM WITH OBSTACLE INDICATION SYSTEM

A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm is coupled to the second end of the column, the height being measured in a direction the column extends from the base. 1. A patient side cart for a teleoperated surgical system , the cart comprising:a column extending from a base, the column having a first end connected to the base and a second end opposite the first end;a surgical instrument manipulator arm coupled proximate the second end of the column; andan obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm is coupled to the second end of the column, the height being measured in a direction the column extends from the base.2. The patient side cart of claim 1 , further comprising:a memory storing a height threshold, the height threshold being set based on illumination of an obstacle with the illumination source.3. The patient side cart of claim 2 , wherein the illumination source is automatically activated in response to a height of the patient side cart being equal to or exceeding the threshold height stored in the memory.4. The patient side cart of claim 2 , wherein the illumination source is automatically activated in response to a height of the patient side cart being equal to or exceeding a height that is less than the threshold height stored in the memory.54. The patient side cart of claim 2 , wherein the illumination source is automatically activated in response to a height of the patient side cart being equal to ...

Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws

A method of compressing tissue during a surgical procedure is disclosed. The method comprises obtaining a surgical instrument comprising an end effector, wherein the end effector comprises a first jaw and a second jaw, establishing a communication pathway between the surgical instrument and a surgical hub, and inserting the surgical instrument into a surgical site. The method further comprises compressing tissue between the first jaw and the second jaw, determining a location of the compressed tissue with respect to at least one of the first jaw and the second jaw, communicating the determined location of the compressed tissue to the surgical hub, and displaying the determined location of the compressed tissue on a visual feedback device.

POWERED SURGICAL INSTRUMENT INCLUDING SPEED DISPLAY

A surgical instrument comprising an end effector configured to grasp tissue. The end effector comprises at least one sensor configured to measure a parameter corresponding to a thickness of the grasped tissue. The surgical instrument further includes a firing member movable during a firing stroke to cause a motion at the end effector and a motor configured to drive the firing member. A feedback indicator or display is configured to display the speed of the firing member according to one of a plurality of zones of speed, such as the relative speed of the firing member. 120-. (canceled)21. A surgical instrument , comprising:an end effector configured to grasp tissue, the end effector comprising at least one sensor configured to measure a parameter corresponding to a thickness of the grasped tissue;a firing member movable during a firing stroke between a first position and a second position to effect a motion at the end effector;a motor configured to drive the firing member between the first position and the second position;a feedback indicator configured to display a plurality of zones of speed of the firing member;a processor in communication with the feedback indicator; and select one of the plurality of zones of speed of the firing member; and', 'indicate on the display the selected zone of speed of the firing member., 'a memory coupled to the processor, the memory storing program instructions which, when executed by the processor, cause the processor to22. The surgical instrument of claim 21 , wherein the program instructions claim 21 , when executed by the processor claim 21 , further cause the processor to select one of the plurality of zones of speed of the firing member based at least in part on the thickness of the captured tissue.23. The surgical instrument of claim 21 , wherein the program instructions claim 21 , when executed by the processor claim 21 , further cause the processor to select one of the plurality of zones of speed of the firing member based ...

SURGICAL TOOL WITH FEEDBACK

A surgical tool including a handle, a functional tool, and a torque limiter is described. The handle is sized and dimensioned for manipulation by a surgeon in a surgical environment. The functional tool is supported by the handle. The torque limiter is supported by the handle and is located between the handle and the functional tool. The torque limiter permits the handle and the functional tool to move relative to each other based on an amount of force applied to the functional tool. 1. A surgical tool , comprising:a handle sized and dimensioned for manipulation by a surgeon in a surgical environment;a functional tool supported by the handle, the functional tool configured to operate on a patient's tissue; anda torque limiter supported by the handle and being located between the handle and the functional tool, the torque limiter permitting the handle and the functional tool to move relative to each other based on an amount of force applied to the functional tool.2. The surgical tool of claim 1 , further comprising a shaft connected to the handle and the functional tool claim 1 , the shaft having a first segment claim 1 , and a second segment claim 1 , the first segment being connected to the handle claim 1 , and the second segment being connected to the functional tool claim 1 , the torque limiter being positioned between the first segment claim 1 , and the second segment claim 1 , the torque limiter movably connecting the first segment to the second segment.3. The surgical tool of claim 1 , wherein the torque limiter includes a first member claim 1 , and a second member coupled together claim 1 , the first member uncoupling from the second member based on the amount of force applied to the functional tool.4. The surgical tool of claim 1 , wherein the torque limiter includes a control unit claim 1 , a sensor claim 1 , two coupled members claim 1 , and an actuator claim 1 , the sensor generating a first signal indicative of the amount of force applied to the ...

Powered medical device including measurement of closure state of jaws

A powered surgical instrument including an end effector, which includes jaws that are configured to transition between various closure states. The surgical instrument includes a sensor configured to measure the closure state of the jaws and a display configured to display information indicative to the detected closure state. The surgical instrument further includes a firing member movable between a first position and a second position to transition the end effector between the plurality of closure states and a motor configured to drive the firing member between the first position and the second position.

Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation

A method for controlling a surgical instrument is disclosed. In at least one instance, the surgical instrument comprises a shroud and the operation of the surgical instrument is modified based on input from a sensing circuit configured to sense a parameter of the shroud. In certain instances, the surgical instrument comprises a strain gage circuit and the operation of the surgical instrument is modified based on input from the strain gage circuit.

Surgical instrument with a hardware-only control circuit

A surgical instrument is disclosed. The surgical instrument includes an electric motor and a control circuit. The control circuit includes a plurality of logic gates and a monostable multivibrator. The monostable multivibrator is connected to a first one of the logic gates. The control circuit is configured to alter a rate of action of a function of the surgical instrument by controlling a speed of rotation of the electric motor based on a sensed parameter.

Surgical instruments comprising button circuits

A surgical instrument is disclosed comprising an actuator and circuitry mounted on and/or embedded in the actuator.

Temperature control of ultrasonic end effector and control system therefor

A generator, ultrasonic device, and method of determining a temperature of an ultrasonic blade are disclosed. A control circuit coupled to a memory determines an actual resonant frequency of an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade by an ultrasonic waveguide. The actual resonant frequency is correlated to an actual temperature of the ultrasonic blade. The control circuit retrieves from the memory a reference resonant frequency of the ultrasonic electromechanical system. The reference resonant frequency is correlated to a reference temperature of the ultrasonic blade. The control circuit then infers the temperature of the ultrasonic blade based on the difference between the actual resonant frequency and the reference resonant frequency.

SITUATIONAL AWARENESS OF ELECTROSURGICAL SYSTEMS

A surgical instrument is disclosed. The surgical instrument comprises an end effector comprising an ultrasonic blade and a clamp arm. The clamp arm is movable relative to the ultrasonic blade to transition the end effector through different closure stages between an open configuration and a closed configuration to clamp tissue between the ultrasonic blade and the clamp arm. The surgical instrument further comprises a transducer configured to generate an ultrasonic energy output, a waveguide configured to transmit the ultrasonic energy output to the ultrasonic blade, and a sensor configured to transmit sensor signals indicative of the closure stages of the end effector. The surgical instrument further comprises a control circuit configured to receive the sensor signals and select an operational mode from operational modes delivering different ultrasonic energy outputs from the transducer based on the received sensor signals. 1. A surgical instrument , comprising: an ultrasonic blade; and', 'a clamp arm movable relative to the ultrasonic blade to transition the end effector through different closure stages between an open configuration and a closed configuration to clamp tissue between the ultrasonic blade and the clamp arm;, 'an end effector, comprisinga transducer configured to generate an ultrasonic energy output;a waveguide configured to transmit the ultrasonic energy output to the ultrasonic blade;a sensor configured to transmit sensor signals indicative of the closure stages of the end effector; and receive the sensor signals; and', 'select an operational mode from operational modes delivering different ultrasonic energy outputs from the transducer based on the received sensor signals., 'a control circuit configured to2. The surgical instrument of claim 1 , wherein the operational modes comprise:a low energy operational mode configured to cause tissue separation but not tissue coagulation; anda high energy operational mode configured to cause the tissue ...

Estimating state of ultrasonic end effector and control system therefor

Various aspects of a generator, ultrasonic device, and method for estimating a state of an end effector of an ultrasonic device are disclosed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance is defined as Z g  ( t ) = V g  ( t ) I g  ( t ) . The control circuit receives a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis.

Interactive surgical system

A surgical instrument is disclosed. The surgical instrument includes an end effector, a user interface, and a control circuit. The end effector is configured to deploy staples into tissue grasped by the end effector and cut the grasped tissue during a firing stroke. The control circuit is configured to cause at least one parameter setting associated with the firing stroke to be displayed on the user interface, cause interpreted information relevant to the firing stroke to be displayed concurrently with the at least one parameter setting on the user interface, wherein the interpreted information is based on external data, and recommend an adjustment of the at least one parameter setting through the user interface, wherein the recommended adjustment is based on the interpreted information.

Automated end effector component reloading system for use with a robotic system

A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

Telescopic guide for hip replacement method

A tool and method for locating a proper position for a portal incision for hip arthroplasty, the tool having at least one generally straight body defining an axis, the generally straight body having a slot at one end, the slot being angled at an approximately 45 degree angle relative to the axis of the generally straight body, the slot configured to receive a cutting member or guide tool. A second generally straight body may be connected to the first generally straight body to form a right angle. If the lengths of the two generally straight bodies are substantially equivalent, then when the second generally straight body is inserted into the acetabulum, the first generally straight body positions the slot in the proper location such that sliding a guide tool or cutting member through the slot allows a portal incision to be created in the proper location. In some embodiments, the generally straight bodies may have adjustable lengths.

Method for operating surgical instrument systems

A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed.

PRECISE HIP COMPONENT POSITIONING FOR HIP REPLACEMENT SURGERY

A device for accurately positioning the acetabular cup in a minimally invasive total hip arthroplasty (THA), comprising the steps of (a) placing the cup in roughly the correct position in the acetabulum using a acetabular component placement tool, (b) taking a first abduction reading and a first anteversion reading using a gyroscopic positioning unit aligned with the acetabular component placement tool, (c) taking an image of at least a portion of the cup using a radiography unit, (d) using the image to determine the actual orientation of the cup and required position of the cup to properly orient the acetabular component, (e) incrementally altering the position of the cup by using a striking tool, (f) taking new abduction and anteversion readings using the gyroscopic unit to determine the relative movement of the cup caused by the tapping, and (g) repeating any of the steps as necessary. 18-. (canceled)9. An acetabular component placement tool , comprising:a surgical tool having a proximal end, and a distal end opposite the proximal end, wherein the proximal end is configured to receive an acetabular component;a gyroscope holder, wherein the gyroscope holder comprises a first end to connect with the surgical tool at the distal end, and a second end opposite the first end; anda first gyroscopic unit attached to the gyroscope holder at the second end so that a position of a plane of the acetabular component can be measured, wherein the first gyroscopic unit is provided by a mobile electronic device configured with a gyroscopic application.10. The placement tool of claim 9 , wherein the mobile electronic device is a smart phone.11. The placement tool of claim 10 , wherein the distal end of the surgical tool comprises a plurality of holes at different levels claim 10 , and wherein the first end of the gyroscope holder comprises a cross-sectional portion keyed to fit into each of the plurality of holes of the surgical tool to adjustably attach adjacent to the distal end ...

Surgical robotic systems with target trajectory deviation monitoring and related methods

A method may be provided to operate a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient. Position information may be received where the position information is generated using a sensor system remote from the robotic arm and remote from the patient. The position information may include position information relating to a tracking device affixed to the patient and position information relating to the surgical end-effector. The robotic arm may be controlled to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the position information generated using the sensor system.

High power atherectomy with multiple safety limits

An atherectomy system includes an electric drive mechanism that is adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the electric drive mechanism. The controller regulates operation of the electric drive mechanism in accordance with a power input limit value that limits how much power can be put into an atherectomy burr and an energy input limit value that limits how much energy can be put into the atherectomy burr. The controller may also regulate operation of the electric drive mechanism in accordance with a dynamic torque limit.

Atherectomy Devices and Methods

Rotational atherectomy devices and systems can remove or reduce stenotic lesions in blood vessels by rotating an abrasive element within the vessel. The abrasive element can be attached to a distal portion of an elongate flexible drive shaft that extends from a handle assembly. In particular embodiments, the handle assembly includes a compressed gas driven turbine member that drives rotation of the drive shaft. The turbine member can be rotatably attached to a carriage that is longitudinally translatable in relation to a housing of the handle assembly. The handle assembly can include a latch mechanism that when actuated allows the carriage to translate to a proximal-most position. While the carriage is in the proximal-most position, an open pathway is created so that a guidewire can be slidably passed through the handle assembly and a lumen of the drive shaft.

DETECTING UNCONTROLLED MOVEMENT

A system includes a manually movable input control configured to generate signals when a movement of one or more mechanical degrees of freedom of the input control is detected and a control module. The control module is configured to determine whether a movement of the input control is anticipated to cause an instrument to move outside of a safe range of movement of the instrument and command the system to switch from an operating mode to a safe mode in response to determining that the movement of the input control is anticipated to cause the instrument to move outside of the safe range of movement of the instrument. The instrument is separate from the input control. In the operating mode the instrument moves in response to movement of the input control. In the safe mode the instrument does not move in response to movement of the input control. 1. A system comprising:a manually movable input control configured to generate one or more signals when a movement of one or more mechanical degrees of freedom of the input control is detected; anda control module coupled to the input control; determine whether a movement of the input control is anticipated to cause an instrument to move outside of a safe range of movement of the instrument, the instrument being separate from the input control, and', 'command the system to switch from an operating mode to a safe mode in response to determining that the movement of the input control is anticipated to cause the instrument to move outside of the safe range of movement of the instrument;, 'wherein the control module is configured to the operating mode comprises a following mode in which the instrument moves in response to movement of the input control, and', 'the safe mode comprises a mode in which the instrument does not move in response to movement of the input control., 'wherein2. The system of claim 1 , wherein the safe range of movement of the instrument depends on an operating speed of the input control.3. The system of ...

Mechanisms for compensating for drivetrain failure in powered surgical instruments

An apparatus for affecting tissue includes an end effector configured to interact with a tissue. The apparatus further includes a surgical instrument that includes one or more drivetrains configured to drive a plurality of gear components in order to perform operations of the surgical instrument, and one or more vibration sensors positioned relative to the one or more drivetrains of the surgical instrument to sense and record vibration information from the one or more drivetrains of the surgical instrument, wherein the one or more vibration sensors are configured to generate an output signal based on the vibration information for comparison to predetermined threshold values to determine a status of the surgical instrument.

DEVICES, SYSTEMS AND METHODS FOR EVALUATION AND FEEDBACK OF NEUROMODULATION TREATMENT

The present disclosure relates to devices, systems and methods for evaluating the success of a treatment applied to tissue in a patient, such as a radio frequency ablative treatment used to neuromodulate nerves associated with the renal artery. A system monitors parameters or values generated during the course of a treatment. Feedback provided to an operator is based on the monitored values and relates to an assessment of the likelihood that a completed treatment was technically successful. In other embodiments, parameters or values generated during the course of an incomplete treatment (such as due to high temperature or high impedance conditions) may be evaluated to provide additional instructions or feedback to an operator. 122-. (canceled)23. A method for providing feedback related to a neuromodulation treatment , the method comprising:receiving an indication of an error generated during administration of the neuromodulation treatment;obtaining a set of data corresponding to the treatment in which the error was generated;evaluating the set of treatment data in view of one or more criteria to determine appropriate feedback; andproviding the appropriate feedback based on the evaluation.24. The method of claim 23 , wherein the set of data comprises one or more criteria related to a condition at or near a time when the error was generated.25. The method of claim 24 , wherein providing the appropriate feedback comprises:displaying a first message providing a first set of instructions if the result of the evaluation is positive; anddisplaying a second message providing a second set of instructions if the result of the evaluation is not positive.25. The method of claim 24 , wherein the one or more criteria comprise an indication of sudden instability corresponding to movement of a treatment device relative to a patient.26. The method of claim 24 , wherein the error comprises one or more of a high temperature error or a high impedance error.27. The method of claim 23 , ...

SYSTEMS, METHODS AND DEVICES FOR REMOVAL OF THROMBUS AND/OR SOFT PLAQUE

A thrombectomy system is provided that, in various embodiments, a rotating impeller that may be translated within limits along a guidewire and within a catheter. The rotating impeller is, during operation, either located entirely outside of the distal end of the catheter's lumen or at least partially outside of the distal end of the catheter's lumen, whereby rotation is prevented if the impeller is completely within the catheter's lumen. 1. A thrombus disruption and removal system comprising:a catheter comprising a body defining a proximal end, a distal end and a lumen therebetween;a tubular shaft defining a proximal end, a distal end, an impeller attached near the distal end of the tubular shaft and a guidewire lumen defined through the tubular shaft and the impeller;a prime mover coupled to the proximal end of the tubular shaft and adapted to rotate the impeller and to translate the impeller relative to the distal end of the catheter body;a controller in operational communication with the prime mover and adapted to determine the translational position of the impeller, whereby the controller prevents rotation of the prime mover and the impeller if the impeller is not translated to a position that is at least partially outside the lumen of the catheter and the distal end of the catheter body.2. The system of claim 1 , wherein the impeller further comprises an elongated screw structure.3. The system of claim 1 , wherein the impeller further comprises a helical structure.4. A thrombus disruption and removal system comprising:a catheter comprising a body defining a proximal end, a distal end and a lumen therebetween;a tubular shaft defining a proximal end, a distal end, an impeller attached near the distal end of the tubular shaft and a guidewire lumen defined through the tubular shaft and the impeller;a prime mover coupled to the proximal end of the tubular shaft and adapted to rotate the impeller and to translate the impeller relative to the distal end of the ...

TROCAR

A trocar including a distal-end tube portion that is disposed inside the body and has a first inner hole through which a medical device can be inserted; a proximal-end tube portion that is disposed outside the body and is connected to the distal-end tube portion, the proximal-end tube portion having a second inner hole that communicates with the first inner hole and has an axis which can be disposed in a direction not parallel to an axis of the first inner hole; and a movement facilitating portion that is disposed on at least one of the inner surface of the first inner hole and the inner surface of the second inner hole to facilitate the movement of the medical device inside the inner hole. 1. A trocar comprising:a distal-end tube portion that is to be disposed inside a body and has a first inner hole through which a medical device can pass;a proximal-end tube portion that is to be disposed outside the body and is connected to the distal-end tube portion, the proximal-end tube portion having a second inner hole that communicates with the first inner hole and has an axis which can be disposed in a direction not parallel to an axis of the first inner hole; anda movement facilitating portion that is disposed on at least one of an inner surface of the first inner hole and an inner surface of the second inner hole to facilitate the movement of the medical device inside the inner hole.2. The trocar according to claim 1 , wherein the distal-end tube portion and the proximal-end tube portion are connected such that the axis of the first inner hole and the axis of the second inner hole are inclined relative to each other.3. The trocar according to claim 1 , wherein the distal-end tube portion and the proximal-end tube portion are connected such that a relative angle formed between the axis of the first inner hole and the axis of the second inner hole can be changed.4. The trocar according to claim 1 , comprising a connecting tube portion between the distal-end tube portion ...

USER INTERFACE FOR STRUT DEVICE

An electrical circuitry fitted to be connected or to be an integral part of a bone fixation device having at least one linear actuator coupled between two rings, including: 1. An electrical circuitry coupled a bone fixation device having at least one linear actuator coupled between frame portions , comprising:one or electricallymore interface circuitry;a memory, wherein said memory stores a fixation device movement plan;control circuitry, coupled to said fixation device and weighing less than 500 gram, wherein said control circuitry: receives values of the actual movement of least one of said linear actuators and/or the distance or the change in the distance between said frame portions, and', 'determines treatment compliance by comparing said actual movement values to said movement plan stored in said memory, and signals said interface circuitry to generate a treatment compliance indication based on said treatment compliance., 'produces actuating signals to said at least one of said actuators according to said movements plan,'}24-. (canceled)5. The electrical circuitry of claim 1 , comprising a receiver circuitry claim 1 ,wherein said receiver circuitry receives a modified treatment protocol in response to a treatment feedback input provided by a user and/or said treatment compliance indication.68-. (canceled)9. The electrical circuitry of claim 1 , further comprising an emergency switch or button connected to said control circuitry;wherein said control circuitry stops the movement of said at least one linear actuator when receiving a signal from said emergency switch or button.10. (canceled)11. The electrical circuitry of claim 1 , further comprising:a housing, fitted and shaped to be connected to one of said frame portions and to accomodate said control circuitry.1222-. (canceled)23. An interface module of a bone fixation device having one or more actuators interconnecting two or more frame portions claim 1 , comprising:at least one housing fitted and shaped to be ...

NON-CONTACT SURGICAL ADAPTER ELECTRICAL INTERFACE

A surgical instrument includes a handle, an adaptor, and a non-contact electrical interface. A proximal end of the adaptor is releasably coupled to a distal end of the handle. The non-contact electrical interface is configured to wirelessly transmit energy from the handle to the adaptor and is configured to wirelessly transmit data from the adaptor to the handle. The electrical interface may include a proximal coil disposed within the handle and a distal coil disposed within the adaptor. When the adaptor is coupled to the handle, the proximal coil may be disposed adjacent the distal coil to form a transformer to inductively transfer energy from the handle to the adaptor and inductively transmit data from the adaptor to the handle. 120-. (canceled)21. A surgical instrument comprising:a receiving portion;an attachment including a proximal end releasably coupled to a distal end of the receiving portion; anda non-contact electrical interface configured to wirelessly transfer energy from the receiving portion to the attachment and configured to wirelessly transmit data between the attachment and the receiving portion.22. The surgical instrument of claim 21 , wherein the receiving portion includes a protrusion claim 21 , wherein the attachment defines a recess that receives the protrusion when the attachment is coupled to the receiving portion claim 21 , and wherein the electrical interface includes a proximal electrical coil disposed within the protrusion and a distal electrical coil disposed within the attachment at a location adjacent the recess.23. The surgical instrument of claim 22 , wherein when the attachment is coupled to the receiving portion the proximal and distal electrical coils form a transformer.24. The surgical instrument of claim 22 , wherein the proximal electrical coil inductively transfers energy to the distal electrical coil claim 22 , and the distal electrical coil inductively transmits data to the proximal electrical coil.25. The surgical ...

SURGICAL TOOL MONITORING SYSTEM AND METHODS OF USE

A device for simultaneously monitoring the health of surgical drills and detecting proximity to critical structures during surgery is described herein. By using various sensors (e.g. microphones, accelerometers, temperature sensors, etc.), signals from the drill can be measured and analyzed. The processed signals can then be used to indicate the proximity of the drill bit to critical structures, such as the patient's brain, and identify drill health issues (e.g. worn bearings, misaligned rotational axis, etc.). 1. A method of identifying a state of a cutting tool during a surgical procedure , the method comprising:contacting the cutting tool with tissue in a body;receiving information about a physical condition of the cutting tool from one or more sensors on the surgical tool as the cutting tool contacts the tissue;analyzing the received information and comparing the received information to stored information regarding predetermined states of the surgical tool to determine whether the cutting tool is approaching a transition between a first type of tissue and a second type of tissue; andbased on the comparison, providing an indication to a user when the cutting member is approaching the transition from the first type of tissue to the second type of tissue;wherein the at least one sensor comprises one or more microphones and the physical condition of the cutting member comprises an acoustic state of the cutting member.2. The method of claim 1 , further comprising:receiving initial information about the cutting tool prior to contact with the tissue from the one or more microphones;applying the received initial information to normalize the stored information regarding the predetermined states of the surgical tool; andcomparing the received information to the normalized stored information to determine whether the cutting tool is approaching a transition between a first type of tissue and a second type of tissue.3. The method of claim 1 , wherein the at least one sensor ...

Adaptive tissue compression techniques to adjust closure rates for multiple tissue types

A mechanism is disclosed for adapting operations of a surgical instrument based on data from actual, expected or predicted properties of tissue, data from measuring operation of the surgical instrument itself, and data based on clinician conduct. The adaptive measures can be based on predetermined control measures such as algorithms stored in operative communication with the surgical instrument, based on dynamically generated control measures, or a combination of both. Utilizing such mechanisms can help to adjust closure and firing algorithms based on tissue properties, improve battery usage, and learn from user operations, enhancing functioning of the instrument within an operational envelope.

TORQUE-LIMITING SCREWDRIVERS

Various torque-limiting screwdrivers, systems, and methods are disclosed. The screwdriver can include a body supporting a motor configured to rotate a screw engaged with the screwdriver. The screwdriver can include a controller configured to implement torque-limiting functionality, such as by monitoring the amount of torque applied to the screw and reducing or stopping rotation of the screw when certain torque-limiting criteria are met. Some embodiments include a threshold point, after which the torque-limiting functionality can be engaged. Some embodiments include a slowdown point, after which the rotational speed of the screw is reduced. 120-. (canceled)21. A method for controlling a surgical torque-limiting screwdriver comprising a housing; a motor positioned in the housing and configured to receive electrical power from a power source; and a drive head positioned at a distal end of the screwdriver , the drive head configured to receive a bit that engages a screw and to be rotated by the motor so as to enable the screwdriver to drive the screw into a bone; the method comprising:determining a plurality of driving torque values, each of the plurality of driving torque values indicative of an amount of torque that the screwdriver is applying to the screw during a respective time period t;storing two or more of the most-recent of the plurality of driving torque values in a memory;comparing each of the driving torque values that occur after a deadband with a threshold torque value;permitting engagement of a torque-limiting function in response to at least one of the driving torque values that occur after the deadband being greater than or equal to the threshold torque value;reducing the rotational speed at which the screwdriver drives the screw in response to at least one of the driving torque values that occur after the deadband being greater than or equal to the threshold torque value; andengaging the torque-limiting function in response to determining that at least ...

NEURAL INTERFACE INSERTION AND RETRACTION TOOLS

Devices and methods for manipulating devices such as micro-scale devices are provided. The devices can include a tether of various materials surrounded by a stiff body. The tether interfaces with microscale devices to draw them against the stiff body, holding the microscale devices in a locked position for insertion into or extraction out of tissue. The tensional hook and stiff body are configurable in a multitude of positions and geometries to provide increased engagement. Such configurations allow for a range of implantation and extraction surgical procedures for the device within research and clinical settings. 118-. (canceled)19. A tool configured for inserting and retracting a micro-scale device , comprising:a housing;an elastic tether comprising a proximal end, a distal end, and an elongate body, a portion of the tether configured to extend distally from the housing in a first configuration and be retracted within the housing in a second configuration; andan end effector operably connected to the distal end of the tether, the end effector configured to reversibly mechanically couple with a portion of the micro-scale device, wherein the tool is configured such that the mechanical coupling does not substantially displace the micro-scale device.20. The tool of claim 19 , wherein the housing comprises a tubular body claim 19 , and the tether is configured to slide within a channel of the housing.21. The tool of claim 19 , wherein the end effector comprises a hook.22. The tool of claim 19 , wherein the end effector comprises a pivoting joint connected to the hook.23. The tool of claim 19 , wherein the end effector comprises a laterally-extending tab configured to allow a user to position the micro-scale device within a target location.24. The tool of claim 19 , wherein the end effector comprises an aperture near a proximal end of the end effector claim 19 , the aperture configured to house a portion of the tether therethrough claim 19 , thereby coupling the end ...

Surgical Instrument

A surgical instrument (), in particular a surgical cutting or drilling instrument, the surgical instrument () comprising: a drive unit; a cutting tool or drill bit () engageable with the drive unit; a measuring device () which is configured to measure the distance [x(t)] covered by the cutting tool or drill bit () along a cutting or drilling path with respect to time and relative to a reference position; a processing un and a digital data storage, wherein in the digital data storage reference data are stored which include at least one data set specifying a reference graph Gwithin a time window () in the range of a transition and defining a reference point of a transition (′), wherein the time window () includes a first time period before the reference point of a transition (′) and a second time period after the reference point of a transition (′) and wherein the processing unit () suitably programmed to compare the recorded graph G with the at least one reference graph Gand to find 1 lion of a transition () in the recorded graph G. 12525. A surgical instrument () , in particular a surgical cutting or drilling instrument , the surgical instrument () comprising:a drive unit;{'b': '5', 'a cutting tool or drill bit () engageable with the drive unit;'}{'b': 1', '25', '1', '5, 'a measuring device () attached to or integral with the surgical instrument (), wherein the measuring device () is configured to measure the distance [x(t)] covered by the cutting tool or drill bit () along a cutting or drilling path with respect to time and relative to a reference position;'}{'b': 14', '1', '5, 'a processing unit () electronically directly or wirelessly connected to the measuring device () and suitably programmed to record a graph G of the distance [x(t)] covered by the cutting tool or drill bit () relative to the reference position and with respect to time during a cutting or drilling process; and'}a digital data storage, {'sub': 'Ref', 'b': 1', '5', '11', '5, 'in the digital data ...